Inertial Measurement Aiding for an Attitude-Aided Baseline Spoofing Detection Technique

Michael Blois and Kyle O’Keefe

Peer Reviewed

Abstract:	This paper proposes a spoofing detection technique using a dual-antenna GNSS moving baseline covariance matrix with the vehicle attitude, known to some precision, to construct bounds for a spoofing detection test. When using only GNSS to construct this, the dual-antenna baseline length is compared to the known physical antenna separation. The direction cosines calculated cannot be trusted because it is not known whether a spoofing attack is influencing the solution. If an independent measurement of the attitude is introduced, a more accurate testing bound can be constructed. The proposed method is tested with real data collected on a vehicle equipped with two GNSS receivers and three different gyroscopes as it moves between being spoofed by an indoor repeater and regular GNSS operations outdoors. Results show that using a gyroscope greatly improves the test bound, and the quality of gyroscope only makes a small difference over a short time. Keywords—Spoofing Detection, Baseline, Attitude
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:	268 - 272
Cite this article:	Blois, Michael, O’Keefe, Kyle, "Inertial Measurement Aiding for an Attitude-Aided Baseline Spoofing Detection Technique," 2025 IEEE/ION Position, Location and Navigation Symposium (PLANS), Salt Lake City, UT, April 2025, pp. 268-272.
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