The consumer drone market is booming. Consumer drones are predominantly used for aerial photography; however, their use has been expanding because of their autopilot technology. Unfortunately, terrorists have also begun to use consumer drones for kamikaze bombing and reconnaissance. To protect against such threats, several companies have started “anti-drone” services that primarily focus on disrupting or incapacitating drone operations. However, the approaches employed are inadequate, because they make any drone that has intruded stop and remain over the protected area. We specify this issue by introducing the concept of safe-hijacking , which enables a hijacker to expel the intruding drone from the protected area remotely. As a safe-hijacking strategy, we investigated whether consumer drones in the autopilot mode can be hijacked via adaptive GPS spoofing. Specifically, as consumer drones activate GPS fail-safe and change their flight mode whenever a GPS error occurs, we performed black- and white-box analyses of GPS fail-safe flight mode and the following behavior after GPS signal recovery of existing consumer drones. Based on our analyses results, we developed a taxonomy of consumer drones according to these fail-safe mechanisms and designed safe-hijacking strategies for each drone type. Subsequently, we applied these strategies to four popular drones: DJI Phantom 3 Standard, DJI Phantom 4, Parrot Bebop 2, and 3DR Solo. The results of field experiments and software simulations verified the efficacy of our safe-hijacking strategies against these drones and demonstrated that the strategies can force them to move in any direction with high accuracy.

中文翻译：

---

牵引梁

消费级无人机市场正在蓬勃发展。消费级无人机主要用于航拍；然而，由于它们的自动驾驶技术，它们的使用一直在扩大。不幸的是，恐怖分子也开始使用消费级无人机进行神风敢死队轰炸和侦察。为了防范此类威胁，几家公司已经启动了“反无人机”服务，主要专注于破坏或削弱无人机操作。然而，所采用的方法是不够的，因为它们会使任何侵入的无人机停止并停留在保护区上空。我们通过引入的概念来指定这个问题安全劫持，这使劫机者能够将入侵的无人机远程驱逐出保护区。作为一个安全劫持策略，我们调查了自动驾驶模式下的消费级无人机是否可以通过自适应 GPS 欺骗被劫持。具体来说，当消费级无人机在发生 GPS 错误时激活 GPS 故障安全并更改其飞行模式，我们对 GPS 故障安全飞行模式以及现有消费级无人机 GPS 信号恢复后的以下行为进行了黑盒和白盒分析。根据我们的分析结果，我们根据这些故障安全机制开发了消费级无人机的分类，并设计了安全劫持每种无人机类型的策略。随后，我们将这些策略应用于四款流行的无人机：DJI Phantom 3 Standard、DJI Phantom 4、Parrot Bebop 2 和 3DR Solo。现场实验和软件模拟的结果验证了我们的有效性安全劫持针对这些无人机的策略，并证明这些策略可以迫使它们以高精度向任何方向移动。