Sensor- and Communication-Based GNSS Spoofing and Jamming Detection Framework for Connected and Automated Vehicle Applications

Mike Stas, Janice Nguyen, Ronald W. Snyder, Ruoshen Mo, Hang Qiu, Matthew J. Barth

Peer Reviewed

Abstract:	Global Navigation Satellite System (GNSS) spoofing and jamming threaten the safety and localization reliability of Connected and Automated Vehicle (CAV). Detecting these attacks is challenging because adversaries directly compromise the primary positioning source, so detection must instead rely on consistency checks across independent sensing modalities. This paper presents a cooperative, multi-sensor detection framework that combines Light Detection and Ranging (LiDAR)-based vehicle detection with cross-modal consistency checks across onboard GNSS and Inertial Navigation System (INS). Inter-vehicle distance estimates derived from peer GNSS/INS solutions exchanged over Vehicle-to-Vehicle (V2V) communication are compared against LiDAR-based ranging from a bird’s-eye view (BEV) pillar detector to form pairwise residuals, which are aggregated into a collaborative inconsistency score and processed by an Exponential Weighted Moving Average (EWMA)-based dual-threshold decision rule. Evaluation on 57 minutes of field-collected data from two collaborative vehicles yields eight alerts (6 true positives, 2 false positives), with 75% concentrated in a 13-minute anomaly window aligned with the controlled spoofing schedule. A jamming case study further shows that GNSS–LiDAR residuals alone were sufficient to trigger alerts when the INS solution became unavailable, indicating the framework remains effective under partial sensor failure.
Published in:	Proceedings of the ION 2026 Pacific PNT Meeting April 13 - 16, 2026 Hilton Waikiki Beach Honolulu, Hawaii
Pages:	786 - 800
Cite this article:	Stas, Mike, Nguyen, Janice, Snyder, Ronald W., Mo, Ruoshen, Qiu, Hang, Barth, Matthew J., "Sensor- and Communication-Based GNSS Spoofing and Jamming Detection Framework for Connected and Automated Vehicle Applications," Proceedings of the ION 2026 Pacific PNT Meeting, Honolulu, Hawaii, April 2026, pp. 786-800. https://doi.org/10.33012/2026.20611
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