The rise of next-generation logistics systems featuring autonomous vehicles and drones has brought to light the severe problem of Global navigation satellite system (GNSS) location data spoofing. While signal-based anti-spoofing techniques have been studied, they can be challenging to apply to current commercial GNSS modules in many cases. In this study, we explore using multiple sensing devices and machine learning techniques such as decision tree classifiers and Long short-term memory (LSTM) networks for detecting GNSS location data spoofing. We acquire sensing data from six trajectories and generate spoofing data based on the Software-defined radio (SDR) behavior for evaluation. We define multiple features using GNSS, beacons, and Inertial measurement unit (IMU) data and develop models to detect spoofing. Our experimental results indicate that LSTM networks using ten-sequential past data exhibit higher performance, with the accuracy F1 scores above 0.92 using appropriate features including beacons and generalization ability for untrained test data. Additionally, our results suggest that distance from beacons is a valuable metric for detecting GNSS spoofing and demonstrate the potential for beacon installation along future drone highways.

Remote video monitoring over networks inevitably introduces a certain degree of communication latency. Although numerous studies have been conducted to reduce latency in network systems, achieving “zero-latency” is fundamentally impossible for video monitoring. To address this issue, we investigate a practical method to compensate for latency in video monitoring using video prediction techniques. We apply the lightweight PredNet to predict future frames, and their image qualities are evaluated through quantitative image quality metrics and subjective assessment. The evaluation results suggest that for simple movements of the robot arm, the prediction time to generate future frames can tolerate up to 333 ms. The video prediction method is integrated into a remote monitoring system, and its processing time is also evaluated. We define the object-to-display latency for video monitoring and explore the potential for realizing a zero-latency remote video monitoring system. The evaluation, involving simultaneous capture of the robot arm’s movement and the display of the remote monitoring system, confirms the feasibility of compensating for the object-to-display latency of several hundred milliseconds by using video prediction. Experimental results demonstrate that our approach can function as a new compensation method for communication latency.