introduction, currently, global, navigation, satellite, system, couple, decades, mainly, corporate, organizations, particular, individuals, easily, access, position, velocity, solution, receivers, cheaper, smaller, signals, expected, frequency, environment, domain, freely, available, triggering, range, significant, designed, rely, positioning, unique, role, synchronized, extremely, precise, satellites, atomic, users, determine, within, billionths, capability, operation, multiple, meaningful, activities, financial, networks, stamping, electrical, grids, digital, percent, stratum, servers, using, synchronization, quantity, systems, redesigned, strict, dependence, companionship, example, broadly, transportation, industry, apps, mobile, devices, driving, maritime, uavs, main, input, instance, deeply, attached, functioning, normal, secured, united, defence, department, future, relevance, importance, civilian, underestimated, cybersecurity, concern, situation, designers, aware, security, flaws, fundamentals, emerge, require, basics, architecture, consequences, lack, authentication, reflected, vulnerability, spoofed, spoofing, injection, counterfeit, readable, structured, provide, timing, information, user, unfortunately, recent, developments, substantial, decrease, equipment, setup, spoofers, compared, previous, consequently, amateur, devious, malefactor, resources, knowledge, conduct, unscrupulously, design, constitution, unmanned, aerial, vehicles, differs, types, drones, proliferation, application, spectrum, wider, intentional, unintentional, emergency, warrantied, flying, objects, endurance, limitations, unit, failure, communication, jamming, safely, simply, undetermined, propend, incidents, vital, reassure, operations, widespread, initiated, military, advantages, manned, aviation, essentially, operational, lower, environments, pose, risk, aircraft, operator, extended, beyond, human, limits, upholder, busted, expanded, phenomenon, diverse, cinematographic, rescue, urban, surveillance, pipelines, forecasted, landscape, us, special, connotation, pilot, commanded, remotely, usually, visual, control, accurate, navigate, dependability, effective, raising, latent, notorious, impacts, literature, vast, countermeasures, methods, increase, practical, implemented, solutions, worriedly, performing, accessible, detection, mitigation, scientific, exclusive, private, organization, purpose, facilitate, immediate, response, problem, stated, designing, creating, based, techniques, layers, applying, specially, benefit, networked, statement, dependable, susceptible, industries, fundamental, accomplish, successful, mission, moreover, distances, essential, displacement, orientation, desired, destination, navigates, forced, provided, unlike, inertial, sensors, gyroscopes, accelerometers, pitot, static, limited, conditions, camera, video, magnetic, compass, complete, modules, implementations, compact, portable, suitable, payload, comparison, radars, alarmingly, authenticity, vulnerabilities, newest, gnsss, popular, widely, specific, detailed, description, publicly, disclosed, positive, development, research, software, created, create, malicious, unprotected, although, optimistic, forecast, european, encrypted, substantially, complexity, perform, planned, vehicle, navigated, data, lacking, exactly, happening, nowadays, broadcasting, signal, transmitted, unencrypted, thus, feasibility, deviously, disrupted, furthermore, sdrs, disclosure, simulator, easier, theoretical, proprietary, therefore, dispensing, countermeasure, vulnerable, additionally, drone, operators, situational, awareness, threats, posing, existent, asymmetry, easiness, unavailability, motivation, analysis, proposed, uprising, conducting, gap, necessary, accomplishment, missions, caused, chipset, interference, usual, procedure, implies, link, capabilities, landmarks, terrain, priori, saved, manoeuvring, tested, uncertainly, avoid, accidental, effectively, incapability, maintain, alert, manual, mode, similar, followed, disastrous, situations, hypothesis, examples, force, prohibited, restricted, areas, national, boarders, trespassing, airspace, challenge, delivering, debatable, controversial, hijacked, iran, possibilities, stolen, injecting, claimed, official, verifications, incident, happened, academics, secure, mini, micro, circumstances, prominent, threat, vectors, vector, implementation, actively, detect, theories, integrated, algorithm, detects, technical, specifications, type, procedures, executed, detected, ensure, scenarios, applicability, overview, finding, directing, achieve, identify, analyse, prevent, impact, likeliness, risks, spoofer, jammer, options, purchase, privacy, device, produce, denial, emit, emulate, complex, constellation, cracking, doing, gradually, decreasing, commercial, simulators, acquire, approximately, recently, source, requires, acquired, scientist, researchers, academicians, hobbyist, unscrupulous, malefactors, achieved, depending, actor, inject, receiver, option, configure, needed, script, kiddie, transmission, antenna, laptop, freeware, creates, binary, partially, finished, projects, online, obtained, plus, basic, simplistic, secondly, attacker, testing, restrictions, approx, sophisticated, offering, generation, advantage, university, estimated, universities, capable, develop, dedicated, effort, accomplished, faster, constant, https, github, com, osqzss, gps, sim, sdr, gnss, capacity, corporation, classified, assumed, considering, developing, technologies, practically, limitation, recourses, civil, miss, concept, nature, exploitable, standard, detecting, orbiting, roughly, kilometres, altitude, received, strength, medium, dbm, coverage, unavailable, overwhelmed, overlapped, legit, sources, addition, transmit, bandwidth, doppler, almanac, ephemeris, secrecy, understanding, facilitating, functions, emulation, construct, balances, automatically, selecting, strongest, propending, acquiring, stronger, immediately, captures, correlation, target, induce, command, heading, autopilot, feedback, unpredictable, capture, replay, existing, meaconing, readily, predictable, occurrence, conducted, properly, transition, transparent, notable, period, reacquisition, technique, necessarily, produced, intentionally, solar, radiation, carelessly, uncontrolled, unusual, temporal, alerted, overcome, manoeuvres, stipulated, initially, trustworthy, coordinates, channels, origin, reference, location, directional, located, channel, provides, alternative, geolocation, cancelled, possibility, highly, reduced, continue, bemuse, filtered, pilots, trusting, legitimacy, mechanisms, presence, easiest, sufficient, acknowledgment, manufactures, implement, asymmetric, proportion, manufacture, released, firmware, version, antispoofing, blox, february, series, chipsets, launched, relies, attacking, objectives, fooling, successfully, react, accordingly, completely, succumb, flagged, fooled, changing, safest, remark, contemplates, ideally, practice, considered, exist, conclude, barrier, downloadable, internet, section, mentioned, factors, affect, subjected, varying, permanent, disruption, stealing, hijacking, monitoring, meticulously, pattern, covert, www, en, press, release, multi, higher, performance, embedded, crashing, elevation, behaviour, barometric, prevails, accomplishing, controlling, confusing, disorientating, misleading, trajectory, disqualifying, area, randomly, proof, securing, conjugate, appropriate, thresholds, fundamentally, statistical, decision, theory, project, context, definition, variety, extent, define, scheme, function, creator, recipient, distinct, final, purposes, consideration, applicable, subgroup, excluding, placed, tactical, category, discarding, strategic, distribution, average, thesis, intergovernmental, elevated, maintenance, especial, less, prone, scenario, remote, jungle, compounds, physical, ranges, landing, maximum, exceed, meters, interaction, communications, telemetry, triangulation, weight, robust, instruments, conventional, aircrafts, alternatives, flown, skilled, certifications, experience, prepared, emergencies, manage, contingency, flexibility, dynamic, components, relatively, worldwide, commercialization, adequate, experiment, customized, applications, operated, licences, support, communities, protocols, manuals, upgrades, applied, spare, adapted, logic, selection, affordable, manipulate, corresponds, contributions, oscillate, versed, ignores, details, professional, shooting, traditional, interpret, suspicious, intermittent, abrupt, discrepancies, individual, commodities, technological, competence, interfere, performed, anyplace, emission, authorities, contemplated, flexible, extreme, interferences, obstructions, distance, actors, relevant, related, requirements, assessing, threat], validate, custom, property, nevertheless, texas, highlighting, developed, intermediate, zurich, considers, discuss, topics, precision, attackers, simulating, simulates, event, unicorn, qihoo, technology, co, ltd, presented, code, simulated, takuji, ebinuma, downloading, sim], oleg, petrovsky, senior, researcher, realised, territory, spoof, shoestring, effectiveness, manufacturer, focus, locked, normally, consider, focused, difficult, disregarded, objective, effects, aimed, proposing, approaches, scalable, herein, refers, realising, simulation, propagation, violating, regulations, hence, discussed, controlled, scope, discards, result, conjugation, selected, default, configuration, model, validation, process, availability, additional, kinetic, non, irregular, environmental, schema, methodology, solve, designscienceresearchmethodology, detections, characteristics, comprehend, interact, variables, acknowledge, topic, withe, grey, academic, institutes, sites, publications, journals, classifying, comparing, combined, specification, categories, discard, employed, identifying, validating, integrate, evaluation, method, efficacy, local, chapter, described, firstly, classification, categorization, explained, concepts, dual, broadcasted, mhz, unauthenticated, community, modulated, whereas, authenticated, agencies, institutions, encryption, consists, omits, providing, uninterrupted, arrival, involves, measuring, multiplied, obtain, travelled, calculated, emitters, solving, equation, results, resulting, imperfect, alignment, transmits, distinguished, modulating, ranging, codes, identifiable, equivalent, corse, acquisition, megabits, per, correlates, precisely, aligned, hz, contains, required, assist, translate, indications, errors, measurements, entire, tracking, phase, reviver, turned, occurs, expensive, performs, dimension, offset, trying, al, slots, pseudo, random, effect, internal, carrier, calculate, current, started, dimensional, orbital, correction, predict, approximate, positions, definite, doesnt, typically, powered, battery, backup, memory, bps, minimum, stored, useable, missing, downloaded, thereby, previously, reported, stealthily, categorized, via, simplest, basically, generated, meaning, packets, unless, significantly, defined, lowered, included, connected, transmitter, synchronizes, generate, knowing, pointing, authentic, deceived, projecting, delay, construction, advanced, carried, coordinated, spatial, trough, numerous, antennas, setups, succeed, quality, decisive, synchronous, original, centimetres, genuine, asynchronous, indication, victims, looking, realistic, drawback, locking, abnormal, anti, organized, focuses, discovering, neutralize, sustained, semi, autonomous, combination, connection, straightforward, majority, combines, aspects, according, reliable, accessibility, summarized, structure, layer, capacities, bento, http, insidegnss, wp, pdf, cryptographic, unpredictability, modulate, estimate, noted, probabilistic, invulnerable, signatures, enhanced, network, download, verified, operates, isolation, array, processing, suited, mitigate, utilizing, attitude, projected, blocked, constraining, adaptive, forming, investigated, including, modulation, features, mislead, include, vestigial, containing, includes, parameters, ionosphere, distributed, sub, consistency, occurring, calculation, integrity, wi, fi, cellular, briefly, signature, estimation, established, null, steering, highest, energy, maximization, unintended, reduction, amplified, individually, latency, consecutive, accumulations, interval, boundary, fundament, strain, suppressing, inspects, vestige, correlator, monitors, determined, tracked, threshold, joint, principel, differencing, doas, output, triggered, spotted, considerably, diverges, regress, discarded, characterizing, cross, ambiguity, distortion, distinguish, discrimination, absolute, uncommon, increments, raised, discriminate, decibels, greatest, dbw, coupling, equations, likelihood, error, exceeds, acceptable, limit, redundancy, employment, delivered, abilities, monitor, relative, parameter, condition, slightly, deceive, recorded, periodically, predetermined, replicated, vary, identification, ids, demonstrate, attempts, particularly, unsophisticated, intervals, perceived, acquires, simultaneously, variations, versus, movement, relation, multipath, etc, considerable, occur, irrelevant, amoralities, predefined, contemplating, correlators, various, outputs, pinpoint, latencies, periods, microseconds, unavoidable, recreating, predictability, update, constantly, checking, fluctuations, chi, squared, phases, resented, standalone, modern, reception, generally, emulates, difficulty, mounting, increases, linearly, ensembles, accuracy, inconsistencies, corrected, packet, delivery, timestamp, rudimentary, verify, analysing, auxiliary, predicting, unexpected, extracted, interface, inserts, convenient, undefined, wesson, rothlisberger, humphreys, automatic, component, flagging, drastic, causes, thermal, [detecting, holly, borowski, oscar, isoz, fredrik, marsten, eklf, sherman, lo, dennis, akos], weakness, voltage, called, jammers, summary, discriminated, requirement, namedescriptionencryptednetworkedorstandalonesingleormultiantennalayerreceiverrequiredcapabilityalow, complexitygpsanti, spoofingmethodusingamulti, antennaarrayestimatesthedirectionwhereallspoofingpseudorandomnoisecodesaretransmitted, consideringtheyallcomefromthesamesourceinspaceandsteeranullvaluetothemnostandalonemultisignalprocessingmultiplereceiverantennasdatabitlatencydefencethetargetreceivercontinuouslymonitorsthebitlockinthec, acodelength, lookingfordatabitsignchangesnostandalonesingledatabitmonitorsthebitlockinthec, acodelengthvestigialsignaldefencemonitorthepresenceoflegitvestigesignalstodistinguishedmorethanonecorrelatorpeaksnostandalonesinglesignalprocessingfilteroutvestigelegitgpssignalsantenna, basedjointattitudeestimationusingtheestimateddoafordiscriminatingbetweenauthenticgnssandthespoofingsignals, nostandalonemultidatabitminiaturizedantennaarray, correlatoroutputdistributionanalysisdetectsifthiscorrelatoroutputdistributionconsiderablydeviatesfromthedistributionoftheauthenticsignal, nostandalonesinglesignalprocessingmonitorthedistributionofthecorrelatoroutputdetectionofspoofedgpssignalsatcodeandcarriertrackinglevelmonitorsthedistortionduringthesignalliftoffthathappensinintermediatespoofingattacks, nostandalonesinglesignalprocessingrequiresspecialsignalprocessingcapabilitiesreceiverautonomousintegritymonitoringraimdetectsspoofedsignalwhenthereisonlytwoprnnostandalonesinglepositionsolutionandnavigationlevelraimimplementedspoofingdiscriminationbasedonabsolutepowermonitoringmonitorsabsolutesignalpower, betweenthetypicalandmaximumpossiblevalues, obtainedbyraimalgorithm, antennaspoofingdiscriminationgpscorrelatorsareappliedtonumerousbeamoutputstospotandlocatespoofernostandalonemultisignalprocessingmultiplereceiverantennasprncodeanddatabitlatency, lookingforabruptchangesinthisvalue, squareddistributionofthecorrelatoroutputnostandalonesinglesignalprocessingdistributionanalysisofcorrelatoroutputsconsistencycheckwithothergnssconstantchecksagainstpvtsolutionsofothergnssnostandalonesinglepositionsolutionandnavigationlevelmultiplegnssreceiverchipset, consistencycheckwithotherpositiontechnologiescomparisonofthepositionsolutionwiththeobtainedbymobileorwi, finetworksnonetworkedsinglepositionsolutionandnavigationlevelinternetconnectionconsistencycheckwithothertechnologiescomparisonofgpsdataintegritywiththeobtainedofthirdpartysources, nonetworkedsinglepositionsolutionandnavigationlevelinternetconnectionconsistencycheckwithothersensorsanalysingandcomparinggpsdatawithauxiliarydeviceslikeimu, compassorpitotstaticinstruments, nonetworkedsinglepositionsolutionandnavigationleveladeviceslikeimu, compassorpitotstaticinstrumentsdefencebasedonspread, transmissionofadigitalkeygeneratedbyspread, spectrumsecuritycodesoverthenavigationmessageyesstandalonesinglesignalprocessingmodificationinthegpsis, insertionofapublic, keydigitalsignaturesinsidethegpscivilnavigationmessageyesstandalonesinglesignalprocessingmodificationinthegpsis, framework, picturing, participants, delimitating, involvement, analysed, strategy, attacked, defines, technically, outer, represents, counterfeited, interfered, synchronize, drowned, encloses, inquiring, smartphone, harmonically, external, entity, responsible, execute, generates, representing, specified, nuand, bladerf, duplex, serving, bladegps, creation, blog, product, archive, maintained, publish, manipulated, specifying, altitudes, locations, format, undesiring, transmitting, interpretable, captured, injected, indented, radar, noticeable, competing, deliver, influenced, regulates, incoming, frequencies, modes, varies, vendor, caching, common, [tyler, nighswander, attacks], implications, prolonged, initial, infinite, emits, processed, variable, cddis, nasa, gov, data_and_derived_products, broadcast_ephemeris_data, html, quad, copter, apply, protocol, dronecode, suite, encompasses, enable, planning, mavlink, adopted, representative, parrot, qualcomm, intel, dronedeploy, yuneec, diagram, solo, composed, controller, optionally, app, visualize, connecting, joystick, concentered, hosted, resides, gopro, specs, org, dev, speciation, km, ascent, hardcoded, physically, pressure, sensor, drifting, temperature, inputs, kalman, filter, module, modularity, upgrade, observed, directly, working, feature, optional, commanding, conveniences, primary, connectivity, linux, yocto, pixhawk, controls, stabilization, recovery, communicates, computer, downstream, gimbal, accessory, qgroundcontrol, planner, dronekit, android, python, customizing, exclusively, customization, transport, autopilots, constructed, listened, retrieve, gps_status, command_ack, ekf_status_report, global_position_int, gps_raw_int, named_value_int, power_status, radio_status, raw_imu, products, documents, releases, ethz, ch, rc_channels_raw, scaled_pressure, sensor_offsets, servo_output_raw, system_time, sys_status, terrain_report, vfr_hud, attitude_quaternion, fused, returned, typical, differential, scaled_imu, accelerometer, metrics, displayed, studio, extensible, catalogue, websites, retrieved, equally, status, ratio, visible, listener, criteria, brief, satisfied, calculations, reached, reside, excluded, filtering, distinguishing, correlate, advance, algorithms, designs, measurement, sololink, class, gpssatellite, getsnr, parsing, gpsstatus, nmealistener, requiring, philosophy, svs, id, getprn, correlating, beidou, nonetheless, enabling, disabling, prefix, indicates, proceed, extracting, contain, correlated, summarize, conceived, validated, transmissions, transported, cable, combiner, faraday, violate, outcome, adjusted, attenuators, booting, feeding, cero, clearly, showed, sessions, deleted, occasion, trigger, mechanism, induced, expecting, agreement, occasions, intermittently, stellates, re, accurately, installed, solid, proposal, samples, recollection, sample, recollected, deviation, dataset, represent, ordinary, calculating, collection, affected, obstacles, scattered, statics, galileo, statistics, later, profound, datasheet, suggested, approach, suggests, symptom, alerting, parsed, nmea, announcing, androids, refer, gotten, server, longer, erratic, ntp, conclusions, demonstrates, counterattacks, issues, concluded, exanimated, shown, success, concluding, remarks, recommendations, material, discusses, findings, recommendation, suggestions, od, signalling, despite, supporting, claims, requisition, inputted, implanted, reduce, probabilities, founded, subset, postulated, datasets, especially, gathering, probability, alters