A Particle Filter Based Sensor Fusion Approach for GNSS Spoofing Detection Incorporating Autonomous Ground Vehicle Navigation Constraints

Muhammad Sami Irfan, Sagar Dasgupta, and Mizanur Rahman

Peer Reviewed

Abstract:	In GNSS spoofing attacks, the spoofer attempts to induce a shift in the autonomous ground vehicle receiver’s time, location, or both. This involves manipulating the pseudorange of each spoofed tracked satellite by artificially adjusting the code phase delays of the incident signal at the receiver antenna. Consequently, identifying anomalies in the pseudorange of a particular satellite can help flag it as spoofed. While techniques such as Receiver Autonomous Integrity Monitoring (RAIM) can detect faults or manipulations in a subset of tracked satellites, they struggle to identify spoofing when the attacker generates self-consistent pseudoranges for the entire set of tracked satellites. To address this challenge, we develop a particle filter-based sensor fusion approach for Global Navigation Satellite System (GNSS) spoofing detection, capable of identifying spoofing-induced pseudorange anomalies. Our approach integrates data from an Inertial Measurement Unit (IMU), vehicle route information, and road features such as lanes and edges. This method enhances the robustness of the GNSS/INS (Inertial Navigation System) and detects anomalies in pseudorange measurements under spoofing attack conditions. It can be applied to detect spoofing attacks involving both inconsistent and self-consistent pseudoranges. We evaluate the proposed method using simulations, and our results demonstrate that it enhances the spoofing detection capabilities of a receiver under sophisticated spoofing attacks. Keywords—Spoofing detection, particle filter, GNSS, INS
Published in:	2025 IEEE/ION Position, Location and Navigation Symposium (PLANS) April 28 - 1, 2025 Salt Lake Marriott Downtown at City Creek Salt Lake City, UT
Pages:	105 - 111
Cite this article:	Irfan, Muhammad Sami, Dasgupta, Sagar, Rahman, Mizanur, "A Particle Filter Based Sensor Fusion Approach for GNSS Spoofing Detection Incorporating Autonomous Ground Vehicle Navigation Constraints," 2025 IEEE/ION Position, Location and Navigation Symposium (PLANS), Salt Lake City, UT, April 2025, pp. 105-111.
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