Robust Innovation-Based Spoofing Detection Method Against UE Maneuver in an INS/GNSS Integrated Navigation System

Yuhang Yang, Chao Sun, HongBo Zhao, Liyuan Zhang, Lu Bai

Abstract:	Global Navigation Satellite Systems (GNSS) signals are susceptible to spoofing attacks, because of their open structure and weak power. Inertial navigation system (INS) is not affected by electromagnetic interference, which provides the INS/GNSS integrated system anti-spoofing capability. Innovation represents the difference between the pseudorange calculated by standalone GNSS and the priori estimate of pseudorange generated by the Kalman Filter. It can be employed to detect spoofing attacks. Various innovation-based spoofing detectors have been developed. However, in actual applications, it is found that the maneuver of user equipment (UE), such as a sudden turn or sudden acceleration, can also trigger the threshold of an innovation-based spoofing test statistic, leading to a very large probability of false alarm (Pfa). In this work, we address the problem of high false alarm rate due to UE maneuver by developing a specific force-aid spoofing detection algorithm. It employs the fact that the specific force will not be affected by spoofing, but will be affected by UE maneuvering. A new metric is developed, which is defined as the ratio of the sum of squares of normalized innovations and the sum of squares of specific force in horizontal directions. We evaluated the performance by both simulations and a hardware-based experiment. A dynamic driving test was carried out in Hainan, China. Results show that the proposed method significantly suppresses the high-PFA due to UE maneuver and meanwhile provides a slightly better spoofing detection performance than the conventional innovation-based method.
Published in:	Proceedings of the 35th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2022) September 19 - 23, 2022 Hyatt Regency Denver Denver, Colorado
Pages:	3592 - 3602
Cite this article:	Yang, Yuhang, Sun, Chao, Zhao, HongBo, Zhang, Liyuan, Bai, Lu, "Robust Innovation-Based Spoofing Detection Method Against UE Maneuver in an INS/GNSS Integrated Navigation System," Proceedings of the 35th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2022), Denver, Colorado, September 2022, pp. 3592-3602. https://doi.org/10.33012/2022.18455
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