Resilience Evaluation and Recovery Strategies for IoT-Enabled Unmanned System-of-Systems under GNSS Spoofing Attacks

The Internet of Things (IoT)-enabled unmanned system-of-systems (IUSoS) is increasingly threatened by Global Navigation Satellite System (GNSS) spoofing attacks, which cause positional deviations in unmanned aerial vehicles (UAVs) and compromise system security. Thus, it is urgent to develop effective countermeasures against GNSS spoofing attacks. However, existing research lacks a comprehensive framework for quantifying IUSoS’s resilience and enabling performance recovery under GNSS spoofing attacks. To address these gaps, this paper incorporates a resilience mechanism into the anti-GNSS spoofing scenario of the IUSoS and investigates its resilience evaluation and recovery strategies. Firstly, a multi-layer IUSoS architecture under GNSS spoofing attacks is proposed to comprehensively describe the system components and their closed-loop operation responses. Subsequently, a three-phase resilience framework designed for the anti-GNSS spoofing scenario is developed, consisting of the resistance, adaptation, and recovery phases. Resilience metrics based on UAV position deviations are then established to assess the IUSoS’s capability against GNSS spoofing. Moreover, a hierarchical recovery strategy integrating neighbor-assisted multilateration and position prediction is presented to enhance the IUSoS’s performance recovery effectiveness under GNSS spoofing attacks. Finally, case studies involving multiple UAV swarms validate the efficacy of the proposed resilience evaluation and recovery strategies. The results provide a reference for ensuring the secure operation and resilience design of the IUSoS under GNSS spoofing attacks.