INS-AIDED GNSS SPOOFING DETECTION BASED ON RAW PSEUDORANGE AND CARRIER PHASE MEASUREMENTS

摘要

GNSS Spoofing is a technique that intentionally broadcasts legitimate-appearing false signals to fool an active GNSS receiver into generation of incorrect PVT solution. The presented technique in this paper focuses on the widely used GNSS/INS navigation system and add a low cost COTS (Commercial-Off-The-Shelf) GNSS receiver to achieve effective spoofing detection. Mathematical models of pseudorange/carrier phase double difference observations under normal and spoofing environment are built and analyzed. With the aid of INS, double difference observations are calculated (with known attitude and baseline vector) and compared with the actual measurements to construct the test static for spoofing detection. A standard fault detection model with constant false alarm rate is set up and a full detection process is presented. Both simulation and live signal experiments were carried out and verified the promising detection ability of the proposed method. A simple version of spoofing, so called meaconing, was realized indoor using a GPS repeater to simulate real word spoofing attack scenarios.