Rocking Drones with Intentional Sound Noise on Gyroscopic Sensors
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1 USENIX Security Symposium 2015 Rocking Drones with Intentional Sound Noise on Gyroscopic Sensors Yunmok Son, Hocheol Shin, Dongkwan Kim, Youngseok Park, Juhwan Noh, Kibum Choi, Jungwoo Choi, and Yongdae Kim Electrical Engineering at KAIST System Security Lab.
2 Drones (Multi-coptors) Distribution delivery Search and rescue Aerial photography Private hobby 2
3 Drone, A New Threat Air terrorism using a weaponized drone 3
4 Drone, A New Threat Air terrorism using a weaponized drone Jul
5 Drone, A New Threat Air terrorism using a weaponized drone Jul May
6 Drone, A New Threat Air terrorism using a weaponized drone Jul May Apr
7 Drone, A New Threat Air terrorism using a weaponized drone Jul May Apr Sep
8 Attack Vectors of Drone Drone 4
9 Attack Vectors of Drone High Power Laser Bumper Drone Drone Capturing Drone with Net Physical attack Drone Shot-gun 4
10 Attack Vectors of Drone High Power Laser Bumper Drone RF jamming or spoofing Comm. channel Drone Capturing Drone with Net Physical attack Drone Shot-gun 4
11 Attack Vectors of Drone High Power Laser Bumper Drone RF jamming or spoofing Comm. channel Software hacking Drone Hacking Drone ( Skyjack ) Drone Capturing Drone with Net Physical attack Drone Shot-gun 4
12 Attack Vectors of Drone High Power Laser Bumper Drone RF jamming or spoofing Comm. channel Software hacking Drone Hacking Drone ( Skyjack ) Drone Capturing Drone with Net Physical attack Drone Positioning Shot-gun GPS Jamming or Spoofing 4
13 Attack Vectors of Drone High Power Laser Bumper Drone RF jamming or spoofing Comm. channel Software hacking Drone Hacking Drone ( Skyjack ) Drone Capturing Drone with Net Physical attack Drone Positioning Shot-gun Sensing channel GPS Jamming or Spoofing 4
14 Attack Vectors of Drone High Power Laser Bumper Drone RF jamming or spoofing Comm. channel Software hacking Drone Hacking Drone ( Skyjack ) Drone Capturing Drone with Net Drone How Physical secure is drone against Positioning attack interference on sensing channel? Shot-gun Sensing channel GPS Jamming or Spoofing 4
15 Drone System Wireless Transmitter RF Wireless Receiver User Controller Flight Controller Rotors (with speed controllers) 6
16 Drone System Wireless Transmitter RF Wireless Receiver User Controller Flight Controller Rotors (with speed controllers) 6
17 Drone System Wireless Transmitter RF Wireless Receiver Input User Controller Flight Controller Rotors (with speed controllers) 6
18 Drone System Wireless Transmitter RF Wireless Receiver Input User Controller Flight Controller Rotors (with speed controllers) Output 6
19 Drone System * IMU: Inertial Measurement Unit Wireless Transmitter RF Input Wireless Receiver Input IMU Sensors (Gyroscope, etc. User Controller Flight Controller Rotors (with speed controllers) Output 6
20 Gyroscope on Drone * MEMS: Micro-Electro-Mechanical Systems Inertial Measurement Unit (IMU) A device to measure velocity, orientation, or rotation Using a combination of MEMS gyroscopes and accelerometers 7
21 Gyroscope on Drone * MEMS: Micro-Electro-Mechanical Systems Inertial Measurement Unit (IMU) A device to measure velocity, orientation, or rotation Using a combination of MEMS gyroscopes and accelerometers MEMS gyroscope 7
22 Gyroscope on Drone Inertial Measurement Unit (IMU) A device to measure velocity, orientation, or rotation Using a combination of MEMS gyroscopes and accelerometers * MEMS: Micro-Electro-Mechanical Systems <Conceptual structure of MEMS gyro.> MEMS gyroscope 7
23 Gyroscope on Drone Inertial Measurement Unit (IMU) A device to measure velocity, orientation, or rotation Using a combination of MEMS gyroscopes and accelerometers * MEMS: Micro-Electro-Mechanical Systems <Conceptual structure of MEMS gyro.> MEMS gyroscope 7 (
24 Resonance in MEMS Gyroscope Mechanical resonance by sound noise Known fact in the MEMS community Degrades MEMS Gyro s accuracy With (resonant) frequencies of sound 8
25 Resonance in MEMS Gyroscope Mechanical resonance by sound noise Known fact in the MEMS community Degrades MEMS Gyro s accuracy With (resonant) frequencies of sound MEMS Gyro. with a high resonant frequency to reduce the sound noise effect (above 20kHz) 8
26 Experiment Setup Up to 48 khz without aliasing Anechoic Chamber Sound Source (Speaker) Audio Amplifier External Soundcard Single Tone Sound Noise 10cm USB Up to 24 khz without aliasing Sound Frequency: every 100 Hz up to 30 khz Gyroscope Read Registers Arduino USB Laptop Python Script 10
27 Sound Pressure Level = 85~95 db (The sound level of noisy factory or heavy truck) Sound source Microphone Gyroscope Arduino
28 12 EA 12 EA 12 EA On the target drones 15 kinds of MEMS gyroscopes 12
29 Experimental Results (1/3) Found the resonant frequencies of 7 MEMS gyroscopes Not found for 8 MEMS gyroscopes Sensor Vender Supporting Axis L3G4200D STMicro. X, Y, Z Resonant freq. in the datasheet (axis) Resonant freq. in our experiment (axis) 7,900 ~ 8,300 Hz (X, Y, Z) L3GD20 STMicro. X, Y, Z No detailed information 19,700 ~ 20,400Hz (X, Y, Z) LSM330 STMicro. X, Y, Z 19,900 ~ 20,000 Hz (X, Y, Z) MPU6000 InvenSense X, Y, Z 30 ~ 36 khz (X) 26,200 ~ 27,400 Hz (Z) MPU6050 InvenSense X, Y, Z 27 ~ 33 khz (Y) 25,800 ~ 27,700 Hz (Z) MPU9150 InvenSense X, Y, Z 24 ~ 30 khz (Z) 27,400 ~ 28,600 Hz (Z) MPU6500 InvenSense X, Y, Z 25 ~ 29 khz (X, Y, Z) 26,500 ~ 27,900 Hz (X, Y, Z) 13
30 Experimental Results (1/3) Found the resonant frequencies of 7 MEMS gyroscopes Not found for 8 MEMS gyroscopes Sensor Vender Supporting Axis L3G4200D STMicro. X, Y, Z Resonant freq. in the datasheet (axis) Resonant freq. in our experiment (axis) 7,900 ~ 8,300 Hz (X, Y, Z) L3GD20 STMicro. X, Y, Z No detailed information 19,700 ~ 20,400Hz (X, Y, Z) LSM330 STMicro. X, Y, Z 19,900 ~ 20,000 Hz (X, Y, Z) MPU6000 InvenSense X, Y, Z 30 ~ 36 khz (X) 26,200 ~ 27,400 Hz (Z) MPU6050 InvenSense X, Y, Z 27 ~ 33 khz (Y) 25,800 ~ 27,700 Hz (Z) MPU9150 InvenSense X, Y, Z 24 ~ 30 khz (Z) 27,400 ~ 28,600 Hz (Z) MPU6500 InvenSense X, Y, Z 25 ~ 29 khz (X, Y, Z) 26,500 ~ 27,900 Hz (X, Y, Z) 13
31 Experimental Results (1/3) Found the resonant frequencies of 7 MEMS gyroscopes Not found for 8 MEMS gyroscopes Sensor Vender Supporting Axis L3G4200D STMicro. X, Y, Z Resonant freq. in the datasheet (axis) Resonant freq. in our experiment (axis) 7,900 ~ 8,300 Hz (X, Y, Z) L3GD20 STMicro. X, Y, Z No detailed information 19,700 ~ 20,400Hz (X, Y, Z) LSM330 STMicro. X, Y, Z 19,900 ~ 20,000 Hz (X, Y, Z) MPU6000 InvenSense X, Y, Z 30 ~ 36 khz (X) 26,200 ~ 27,400 Hz (Z) MPU6050 InvenSense X, Y, Z 27 ~ 33 khz (Y) 25,800 ~ 27,700 Hz (Z) MPU9150 InvenSense X, Y, Z 24 ~ 30 khz (Z) 27,400 ~ 28,600 Hz (Z) MPU6500 InvenSense X, Y, Z 25 ~ 29 khz (X, Y, Z) 26,500 ~ 27,900 Hz (X, Y, Z) 13
32 Experimental Results (2/3) Unexpected output by sound noise (for L3G4200D) Standard deviation of raw data samples for 12 L3G4200D chips (X-axis) Standard deviation of raw data samples for 12 L3G4200D chips (Y-axis) 14
33 Experimental Results (2/3) Unexpected output by sound noise (for L3G4200D) Standard deviation of raw data samples for 12 L3G4200D chips (X-axis) Standard deviation of raw data samples for 12 L3G4200D chips (Y-axis) 7,900 ~ 8,300Hz 14
34 Experimental Results (2/3) Unexpected output by sound noise (for L3G4200D) Standard deviation of raw data samples for 12 L3G4200D chips (X-axis) 7,900 ~ 8,300Hz Standard deviation of raw data samples for 12 L3G4200D chips (Y-axis) 7,900 ~ 8,300Hz 14
35 Experimental Results (3/3) Unexpected output by sound noise (for L3G4200D) Standard deviation of raw data samples for 12 L3G4200D chips (Z-axis) Raw data samples of one L3G4200D chip 8,000Hz) 15
36 Experimental Results (3/3) Unexpected output by sound noise (for L3G4200D) Standard deviation of raw data samples for 12 L3G4200D chips (Z-axis) Raw data samples of one L3G4200D chip 8,000Hz) 7,900 ~ 8,300Hz 15
37 Experimental Results (3/3) Unexpected output by sound noise (for L3G4200D) Standard deviation of raw data samples for 12 L3G4200D chips (Z-axis) Raw data samples of one L3G4200D chip 8,000Hz) 7,900 ~ 8,300Hz What is the impact of abnormal sensor output to the actuation of drone system? 15
38 Software Analysis Two open-source firmware programs Multiwii project ArduPilot project 16
39 Software Analysis Two open-source firmware programs Multiwii project ArduPilot project Rotor control algorithm 16
40 Software Analysis Two open-source firmware programs Multiwii project ArduPilot project Rotor control algorithm Proportional-Integral -Derivative control 16
41 Software Analysis Two open-source firmware programs Multiwii project ArduPilot project Rotor control algorithm Proportional-Integral -Derivative control 16
42 Software Analysis Two open-source firmware programs Multiwii project ArduPilot project Rotor control algorithm Proportional-Integral -Derivative control 16
43 Software Analysis Two open-source firmware programs Multiwii project ArduPilot project Rotor control algorithm Proportional-Integral -Derivative control 16
44 Software Analysis Two open-source firmware programs Multiwii project ArduPilot project Rotor control algorithm Proportional-Integral -Derivative control 16
45 Software Analysis Two open-source firmware programs Multiwii project ArduPilot project Rotor control algorithm Proportional-Integral -Derivative control 16
46 Target Drones Target drone A (DIY drone) Target drone B (DIY drone) Gyroscope: L3G4200D Gyroscope: MPU6000 Resonant freq.: 8,200 Hz Firmware: Multiwii (Audible sound range) Resonant freq.: 26,200 Hz Firmware: ArduPilot (Ultra sound range) 18
47 19 Attack DEMO
48 Attack DEMO (Target drone A) Raw data samples of the gyroscope 21
49 Attack DEMO (Target drone A) Input Raw data samples of the gyroscope Flight Controller Output Rotor control data samples 21
50 Attack DEMO (Target drone A) Altitude data samples from sonar Input Raw data samples of the gyroscope Flight Controller Output Rotor control data samples 21
51 Attack Results Result of attacking two target drones Target Drone A Target Drone B Resonant Freq. (Gyro.) 8,200 Hz (L3G4200D) 26,200 Hz (MPU6000) Affected Axes X, Y, Z Z Attack Result Fall down - 22
52 Attack Results Result of attacking two target drones Target Drone A Target Drone B Resonant Freq. (Gyro.) 8,200 Hz (L3G4200D) 26,200 Hz (MPU6000) Affected Axes X, Y, Z Z Attack Result Fall down - X- and Y-axis = vertical rotation (more critical effect on stability) Z-axis = horizontal orientation 22
53 Attack Distance The minimum sound pressure level in our experiments About db SPL (at 10cm) 24
54 Attack Distance The minimum sound pressure level in our experiments About db SPL (at 10cm) Theoretically, 37.58m using a sound source that can generate 140 db SPL at 1m 24
55 Attack Distance The minimum sound pressure level in our experiments About db SPL (at 10cm) Theoretically, 37.58m using a sound source that can generate 140 db SPL at 1m <450XL of LRAD Corporation> 24 (
56 Attack Scenarios Drone to Drone Attack Sonic Weapons Sonic Wall/Zone 25
57 Limitations (1/2) Aiming at a 3- dimensional moving object 26
58 Limitations (1/2) Aiming at a 3- dimensional moving object Speaker array Audio amp. 26
59 Limitations (1/2) Aiming at a 3- dimensional moving object Speaker array Audio amp. 26
60 Limitations (1/2) Aiming at a 3- dimensional moving object Speaker array Audio amp. Long Range Acoustic Device for police 26
61 Limitations (2/2) No accumulated effect or damage Simple sonic wall (3m-by-2m, 25 speakers) 27
62 28 Countermeasure
63 Countermeasure Physical isolation Shielding from sound Using four materials Paper box Acrylic panel Aluminum plate Foam 28
64 Countermeasure Physical isolation Shielding from sound Using four materials Paper box Acrylic panel Aluminum plate Foam Standard deviation of raw data samples for one L3G4200D chip (averaged for 10 identical tests) 28
65 Conclusion A case study for a threat caused by sensor input Finding mechanical resonant frequencies from 7 kinds of MEMS gyro. Analyzing the effect of this resonance on the firmware of drones Demonstrating to attack drones using sound noise in the real world Suggesting several attack scenarios and defenses 30
66 Conclusion A case study for a threat caused by sensor input Finding mechanical resonant frequencies from 7 kinds of MEMS gyro. Analyzing the effect of this resonance on the firmware of drones Demonstrating to attack drones using sound noise in the real world Suggesting several attack scenarios and defenses Future work Developing a software based defense (without hardware modifications) Against sensing channel attacks for drones or embedded devices 30
67 Conclusion A case study for a threat caused by sensor input Finding mechanical resonant frequencies from 7 kinds of MEMS gyro. Analyzing the effect of this resonance on the firmware of drones Demonstrating to attack drones using sound noise in the real world Suggesting several attack scenarios and defenses (Not only by natural errors, but also by attackers) Future work Sensor output should not be fully trusted. Developing a software based defense (without hardware modifications) Against sensing channel attacks for drones or embedded devices 30
68 31
69 32 APPENDIXES
70 Sensor Definition To detect physical properties in nature To convert them to quantitative values 33
71 Sensor Definition To detect physical properties in nature To convert them to quantitative values New channel to attack (for attacker) 33
72 Sensor Definition To detect physical properties in nature To convert them to quantitative values New channel to attack (for attacker) Network traffic Software update Sensor reading Sensing & Actuation System 33
73 Attack Vectors of Sensor Three interfaces System (Processor) Sensor Physical quantities 34
74 Attack Vectors of Sensor Three interfaces Sensitive to legitimate (physical) quantities System (Processor) Sensor Legitimate channel Physical quantities 34
75 Attack Vectors of Sensor Three interfaces Sensitive to legitimate (physical) quantities Insensitive to other (physical) quantities System (Processor) Sensor Legitimate channel Nonlegitimate channel Physical quantities 34
76 Attack Vectors of Sensor Three interfaces Sensitive to legitimate (physical) quantities Insensitive to other (physical) quantities Need to send data to the system System (Processor) Sensor Legitimate channel Nonlegitimate channel Physical quantities 34
77 Attack Vectors of Sensor Three interfaces Sensitive to legitimate (physical) quantities Insensitive to other (physical) quantities Need to send data to the system System (Processor) Data/Signal injection Sensor Sensing data injection Legitimate channel Nonlegitimate channel Interference or performance degradation Physical quantities 34
78 Attack Vectors of Sensor Three interfaces Sensitive to legitimate (physical) quantities Insensitive to other (physical) quantities Need to send data to the system System (Processor) Data/Signal injection EMI injection attack for defibrillator and BT headset (S&P 2013) Sensor Sensing data injection Legitimate channel Nonlegitimate channel Interference or performance degradation Physical quantities 34
79 Attack Vectors of Sensor Three interfaces Sensitive to legitimate (physical) quantities Insensitive to other (physical) quantities Need to send data to the system System (Processor) Data/Signal injection EMI injection attack for defibrillator and BT headset (S&P 2013) Sensor Sensing data injection Legitimate channel Nonlegitimate channel Interference or performance degradation Spoofing attack for ABS in a car (CHES 2013) Physical quantities 34
80 Attack Vectors of Sensor Three interfaces Sensitive to legitimate (physical) quantities Insensitive to other (physical) quantities Need to send data to the system System (Processor) Data/Signal injection EMI injection attack for defibrillator and BT headset (S&P 2013) Sensor Sensing data injection Legitimate channel Nonlegitimate channel Interference or performance degradation Spoofing attack for ABS in a car (CHES 2013) Our work Physical quantities 34
81 Sound Noise Source Sound Pressure Level (SPL) and Total Harmonics Distortion plus Noise (THD+N) measurement (The sound level of noisy factory or heavy truck) 85~95 db SPL Microphone (Brüel & Kjær 4189-A-021) below 2% THD+N Sound Measurement Instrument (NI USB-4431) 35
82 Paper box Acrylic panel Aluminum plate Foam 36
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