Integrity Analysis and Comparison of GNSS/INS Integrated Navigation System with/without NHC under GNSS Spoofing Attacks

Abstract

The integrated navigation system composed of Global Navigation Satellite System (GNSS) and Inertial Navigation system (INS) is widely used in the field of navigation and implementation of non-holonomic constraint (NHC) is also a commonly used method to enhance the positioning accuracy. The positioning performance of INS/GNSS/NHC integrated navigation system is fully researched in recent studies. However, under the increasing threat of GNSS spoofing nowadays, the integrity of INS/GNSS integrated system with and without NHC under GNSS spoofing attack has not been evaluated yet. In the paper, the position domain MDB is utilized as the metric for the evaluation of system integrity under spoofing attack. We develop a convex optimization based method for MDB derivation. The position domain MDB is calculated on a dataset collected during real driving and the integrities of the integrated navigation systems with and without NHC are compared and analyzed based on the derived result.