# Impacts of GPS Spoofing on Path Planning of Unmanned Surface Ships
## 5 Conclusions  
At present, the research on path planning of unmanned ships assumes that the data from GPS receivers are reliable. However, the security and authenticity of the data collected by the front end of the unmanned ship are very important. Once the path planning algorithm uses inaccurate or even false data, it will lead to ship collision, grounding, or deviation from the course, causing serious economic losses and causing great security risks to other sailing ships. This paper designs a method where attackers transmit the fake position of ships through GPS spoofing to influence path planning based on APF. Experiments have studied and verified the feasibility of using a simple and economical GPS spoofing device to implement GPS spoofing. The experiments in this paper show that GPS spoofing for path planning of unmanned ships based on the artificial potential field algorithms is feasible without the interference of other factors. Finally, attackers make unmanned ships deviate from the target point through GPS spoofing. This paper mainly focuses on the impacts of GPS spoofing on the path planning of unmanned ships. At present, there are few papers on the impacts of GPS spoofing on the path planning of unmanned ships. Moreover, there are no large-scale practical application examples of unmanned ships. Limited by the experimental environment and conditions, we cannot test the impacts of GPS spoofing on real unmanned ships since modifying the GPS signal for such ships is very dangerous. We could not get permission to conduct such an experiment even through our organization's own ships. According to the GPS spoofing steps proposed in this paper, we test the GPS transmitting and receiving devices through experiments. It can be verified that the GPS spoofing method in this paper can also be implemented on real unmanned ships. Unmanned ships have great advantages in economy, safety, and society, including reducing the operation cost of the ship owner, reducing the cost of personnel on board, reducing the loss caused by human error risk, and reducing the threat of pirates to the personal safety of the crew. In the future, unmanned ships will play an important role in maritime cargo transportation and the military field. There are many sensors and electronic devices on the unmanned ship to collect the dynamic data of navigation and environment, which need to be transmitted to the shore-based control center through communication networks. There may be data delay and packet loss in network transmission, which will affect the real-time monitoring and remote control of the shore-based control center. Moreover, many sensors and electronic devices with open communication protocols, unified standards, and a lack of effective security protection are deployed on unmanned ships, which will bring more potential network attacks and increase the possibility of network attacks on unmanned ship systems. Once an unmanned ship is attacked by the network or the network security management is improper, the shipowners, port operators, and their insurance companies will face a great risk of loss, such as ship collision, grounding, or deviation from the course, which will not only cause serious economic losses but also cause security risks to other ships. Therefore, the network security of unmanned ships is very \begin{table}
\begin{tabular}{c c c c c c} \hline \hline
**False Position x** & **False Position y** & **Next Position x** & **Next Position y** & **x Offset** & **y Offset** \\ \hline
0 & 0.9 & 0.1499 & 0.1323 & 0.0099 & 0.0077 \\
1 & 0 & 0.1361 & 0.1466 & 0.0039 & 0.0066 \\
2 & 0 & 0.1293 & 0.1526 & 0.0107 & 0.0126 \\
3 & 0 & 0.1202 & 0.1599 & 0.0198 & 0.0199 \\
4 & 0 & 0.1094 & 0.1674 & 0.0306 & 0.0274 \\
5 & 0 & 0.0970 & 0.1749 & 0.0430 & 0.0349 \\
6 & 0 & 0.0829 & 0.1820 & 0.0571 & 0.0420 \\
7 & 0 & 0.0671 & 0.1884 & 0.0729 & 0.0484 \\
8 & 0 & 0.0497 & 0.1937 & 0.0903 & 0.0537 \\
9 & 0 & 0.0310 & 0.1976 & 0.1090 & 0.0576 \\
10 & 0 & 0.0114 & 0.1997 & 0.1286 & 0.0597 \\ \hline \hline \end{tabular}
\end{table}