INS-aided GNSS spoofing detection based on two antenna raw measurements

Abstract

GNSS Spoofing is a technique that intentionally fools a receiver into generating incorrect position and/or time solution. A low cost GNSS receiver is added to the widely known GNSS/INS system to achieve effective spoofing detection. Models of pseudorange/carrier phase double difference under normal and spoofing conditions are built and analyzed. With the aid of INS, double difference observations are calculated and compared with the actual measurements to construct the test statistic. A full detection process with constant false alarm rate is set up and its detection ability is verified by live signal experiment in a static case.