Abstract
Intentionally misguiding a global positioning system (GPS) receiver has become a potential threat to almost all civilian GPS receivers in recent years. GPS spoofing is among the types of intentional interference, in which a spoofing device transmits spoofed signals towards the GPS receiver to alter the GPS positioning information. This paper presents a robust positioning algorithm, followed by a track filter, to mitigate the effects of spoofing. It is proposed to accept the authentic GPS signals and spoofed GPS signals into the positioning algorithm and perform the robust positioning with all possible combinations of authentic and spoofed pseudorange measurements. The pseudorange positioning algorithm is accomplished using an iterative least squares (ILS). Further, to efficiently represent the robust algorithm, the M-best position algorithm is proposed, in which a likelihood-based cost function optimizes the positions and only provides M-best positions at a given epoch. However, during robust positioning, the positions evolved due to spoofed pseudorange measurements are removed to overcome GPS spoofing. In order to remove the fake positions being evolved owing to wrong measurement associations in the ILS, a gating technique is applied within the Kalman filter (KF) framework. The navigation filter is a three-dimensional KF with a constant velocity (CV) model, all the position estimates evolved at a specific epoch are observations. Besides, to enhance this technique’s performance, the track to position association is performed by using two data association algorithms: nearest neighbor (NN) and probabilistic data association (PDA). Simulations are carried out for GPS receiver positioning by injecting different combinations of spoofed signals into the receiver. The proposed algorithm’s efficiency is given by a success rate metric (defined as the navigation track to follow the true trajectory rather than spoofing trajectory) and position root mean square error (PRMSE).
Highlights
Global navigation satellite system (GNSS) is generally used for providing the position, navigation, and time (PNT) for many civilian and military applications
If the autonomous vehicles are more reliable on the inertial navigation system (INS) rather than the global positioning system (GPS), one can move the spoofed trajectory with very small deviations because the IMU sensors are incapable of detecting the lower turn rates for successful spoofing in such cases [40]
The robust positioning algorithm computes all possible combinations of pseudoranges, using the iterative least squares (ILS) solution
Summary
Global navigation satellite system (GNSS) is generally used for providing the position, navigation, and time (PNT) for many civilian and military applications. Spoofing is a process of transmitting mimic GPS signals either by using a simulator or a repeater with boosted power Those fake signals are locked onto the receiver and produces false positioning and results in degraded autonomous navigation for vehicles. The signal monitoring techniques demand the receiver’s re-design, as these detection algorithms are based upon the internal signal measurements available outside the receiver One can apply these signal processing techniques, to autonomous navigation of vehicles, to detect the spoofing attack, they are unable to diminish the spoofing effects. In all the above contributions of autonomous vehicle positioning in GPS spoofing environment [17], [21], [24]–[26], either authentication of signals or communication among the vehicles is applied to either detect the spoofing or secure the navigation track.
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