Vehicle mounted single-antenna GNSS spoofing detection method based on motion trajectory

The application of global navigation satellite system in vehicle navigation imposes high requirements on its safety, which makes it extremely important to detect deceptive interference (DI). The integration of prior road position information is usually necessary for the vehicle navigation, but it requires extensive learning and data collection, resulting in high implementation costs. We focus on efficient and practical research on DI detection by utilizing the most traditional wheel speed sensor auxiliary information. The classical pseudorange consistency detection method avoids the use of absolute position information, and overcomes the limitation of clustering algorithms caused by the number of spoofing interferences. Hypothesis test statistics are constructed by using the differencing method in the east and north directions, and the probability distributions of detection values under normal and spoofing conditions are theoretically derived. A comprehensive deception detection scheme is introduced to enhance the detection probability, catering to both single and multiple satellite deception situations, with a central focus on the contribution change factor of positioning satellites. Experimental results demonstrate that within a time scale of several tens of seconds, effective identification and correction of DI involving more than one code chip bias can be achieved.