An Approach of Linear Regression-Based UAV GPS Spoofing Detection

Table 5

Comparison of RMSE corresponding to input timing steps.

Step_in	Step_out	Neurons
5	5	16	2.636	0.076	0.360	0.896
8	5	16	2.063	0.076	0.360	0.594
10	5	16	1.923	0.035	0.160	0.755
12	5	16	61.393	5.092	23.410	5.142

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.