An Approach of Linear Regression-Based UAV GPS Spoofing Detection

Table 4

Comparison of RMSE corresponding to neuron node.

Step_in	Step_out	Neurons
10	5	8	68.114	5.600	25.750	5.943
10	5	16	1.923	0.035	0.160	0.755
10	5	32	5.135	0.449	2.060	0.321
10	5	48	4.555	0.368	1.696	0.426
10	5	64	9.472	0.847	3.890	0.499

is the RMSE of all predicted data and real data, is the RMSE of latitude, is the RMSE of longitude, and vel is the RMSE of speed.