Spoofing Detection and Anti-Spoofing Kalman Filter Design for an Accelerometer-Integrated GNSS Receiver

Abstract

Global Navigation Satellite Systems (GNSS) measurements are frequently used, especially in autonomous vehicle navigation, as they can provide successful positioning solutions. Therefore, the importance of positioning accuracy of the GNSS receiver in these vehicles has increased. On the other hand, with spoofing attacks, receivers can produce a positioning solution in a way that they think they are in a different place than their actual location. For this reason, it is important to use spoofing detection and countermeasure algorithms in GNSS receivers. In this paper, a Kalman filter design is proposed to be used in the navigation block, just before producing the final positioning solution, of the accelerometer-integrated GNSS receivers for spoofing detection and countermeasure. The proposed approach detects spoofing by comparing the residual values of the solutions of accelerometers and GNSSs with each other. The performance of the filter was examined with Monte Carlo simulations for different spoofing trajectories and interpreted by plotting Receiver Operating Characteristic curves.