It works by combining the data from a number of sensors to produce more accurate information than if data were taken from individual sensors and used separately. “Until now, it was thought that sensor fusion algorithms were robust and could not easily be attacked because they integrate data from several sensors,” says Takeshi Yoneda, a manager at Mitsubishi Electric’s Information Technology R&D Center in Ofuna, 60 kilometers south of Tokyo. “Also, because sensor fusion algorithms are complex, it’s been difficult to evaluate how secure they are in real-world testing.” As a result, he says no effective countermeasures to cyber attacks on sensor fusion systems have been developed. The new combined result is then used by the sensor fusion algorithm to produce accurate inclination data to control the drone’s roll, pitch, and yaw. In circumstances where the combined accelerometer and magnetometer data experience intermittent noise from the environment or the drone itself, the control system blocks out those inputs, using only the data from the gyroscope until the situation returns to normal again.