Location Security under Reference Signals’ Spoofing Attacks: Threat Model and Bounds

Abstract

Most localization systems rely on measurements gathered from signals emitted by stations whose position is assumed known as ground truth, namely anchors. As demonstrated by a significant bulk of experimental research, location security is threatened when an attacker becomes able to tamper either the signals emitted by the stations, or convince the user that the anchor station is in a different position than the true one. With this paper, we first propose a formal threat model which captures the above-mentioned wide class of attacks, and permits to quantitatively evaluate how tampering of one or more anchor locations undermines the user’s localization accuracy. We specifically derive a Cramér Rao Bound for the localization error, and we assess a number of example scenarios. We believe that our study may provide a useful formal benchmark for the design and analysis of detection and mitigation solutions.