Figure 11.

Two scenarios for attacks on a drone: (a) The drone hovers at a fixed distance from the ground when the attacker is not transmitting (i.e., the attacker’s transmitter is off). When the attacker starts transmitting, the drone gradually ascends and stops at a new height according to its new perceived distance from the “virtual” ground. (b) The attacker is transmitting the attacking signal, while the drone is commanded to descend. The drone stops at a preconfigured height from the attacking sensor according to the perceived distance from the “virtual” ground.