Anti-spoofing Kalman filter for GPS/rotational INS integration

Abstract

The navigation and positioning accuracy of the carrier can be effectively improved through the integrated navigation of GPS and Inertial navigation system (INS). However, signals from GPS satellites are affected by the external environment, which may reduce the positioning accuracy of GPS. More seriously, the GPS receiver may receive spoofing signals, resulting in positioning errors in the integrated navigation. Therefore, an anti-spoofing integrated navigation method is proposed in this paper. The error propagation characteristics of inertial navigation and the prediction estimation value in Kalman filter are used to detect the spoofing. After spoofing detection, credible GPS positioning results are used for Kalman filter as measurements. The method proposed in this paper can effectively improve the accuracy and robustness of integrated navigation. At the same time, it does not need to modify the existing GPS equipment or additional equipment. The effectiveness of the method is verified by simulation and vehicular experiments.