This repo contains DeLorean diagnosis and recovery framework code and dataset.

-/simulator contains DeLorean implementation in ArduPilot SITL. -/data contains dataset.

Running SITL

Follow the steps given here to setup the build environment.

Clone the project

cd simulator/ArduCopter/
../Tools/autotest/sim_vehicle.py --console --map

Launch Missions

/missions contains various types of mission paths.

To run mission in the SITL window run the following commands:

wp load ../missions/mission-1.txt
mode guided
arm throttle
takeoff 50
mode auto

Launch Attacks

The attacks details are in AP_InertialNav_NavEKF.cpp and AP_AHRS_NavEKF.cpp files.

Run the following commands to launch sensor attacks. Follows steps shown here to identify the paremeters for each sensor.

GPS Spoofing

param set SIM_GPS_GLITCH_X 0.01
param set SIM_GPS_GLITCH_Y 0.01

Gyroscope Attack

param set SIM_GYR1_RND 3

Data Extraction and Pre-Processing

Convert .bin logs to CSV files as shown below:

cd ./data/
python mavlogdump.py --format csv --types ATT <input> <output>

ATT extracts attitude data. For full list of parameters check here

Paper

If you find the repo useful, please cite the following paper:

Pritam Dash, Guanpeng Li, Mehdi Karimibiuki, and Karthik Pattabiraman, "Diagnosis-guided Attack Recovery for Securing Robotic Vehicles from Sensor Deception Attacks", ACM AsiaCCS 2024.