With the wide application of unmanned aerial vehicles (UAVs), security problems of UAV systems are gradually exposed, which bring great risks to UAV application. This paper surveys the security of UAV systems including attacks and countermeasures. First, the UAV system architecture is analyzed to identify security vulnerabilities. A UAV system contains the hardware platform, software platform, radio communication link and application software. The navigation, guidance and control systems are three core components in software platform. Then, security threats and attacks are analyzed and categorized from the view of cyberspace security, including spoofing attacks, reply attacks, jamming attacks, Denial of Service (DoS) attacks, eavesdropping attacks, side channel attacks, manipulation attacks and system intrusion attacks. Countermeasures are categorized based on the UAV system architecture and what attacks each countermeasure type can defend are also summarized. Compared to existing survey on security of a UAV system, more attack types and corresponding countermeasures are concluded. Finally, open issues and corresponding countermeasures on the security of UAV systems are discussed to guide the future research trend, including existing countermeasure weaknesses and challenges, and new issues and challenges.

中文翻译：

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无人机系统安全性调查：攻击与对策


随着无人机的广泛应用，无人机系统的安全问题逐渐暴露，给无人机应用带来巨大风险。本文调查了无人机系统的安全性，包括攻击和对策。首先，分析无人机系统架构，识别安全漏洞。无人机系统包含硬件平台、软件平台、无线电通信链路和应用软件。导航、制导和控制系统是软件平台的三个核心组成部分。然后，从网络空间安全的角度对安全威胁和攻击进行分析和分类，包括欺骗攻击、回复攻击、干扰攻击、拒绝服务（DoS）攻击、窃听攻击、旁道攻击、操纵攻击和系统入侵攻击。根据无人机系统架构对对策进行分类，并总结了每种对策类型可以防御哪些攻击。与现有的无人机系统安全性调查相比，总结出更多的攻击类型和相应的对策。最后，讨论了无人机系统安全的开放问题和相应对策，包括现有对策的弱点和挑战，以及新的问题和挑战，以指导未来的研究趋势。