众所周知，欺骗是一种严重威胁，会对 GNSS 应用的可靠性和准确性造成不利影响。本研究构建了众包双差伪距空间（D2SP）随机集，并推导了该集合的分布。基于 D2SP 集合的方差，设计了一种三层假设检测算法，用于对感兴趣区域（ROI）内的无欺骗、完全欺骗和部分欺骗情形进行分类。该算法不需要接收机真实位置或相对距离的先验知识。仿真测试结果表明，与广义似然比检验（GLRT）方法相比，所提出的 D2SP 欺骗检测方法具有计算复杂度更低、对多径误差容忍度更高的优势；GLRT 是当前基于多接收机差分伪距的主流欺骗检测算法。此外，该方法对不同大小的 ROI 和不同数量的众包接收机也表现出更好的灵活性。
英文摘要：
It is widely known that spoofing is a major threat that adversely impacts the reliability and accuracy of GNSS applications. In this study, a crowdsourcing double differential pseudorange spatial (D2SP) random set is constructed and the distribution of the set is derived.Based on the variance of the D2SP set, a tri-level hypothesis detection algorithm is designed to classify spoofing-free, fully-spoofed, and partially-spoofed cases in the region of interest (ROI).It does not require the prior knowledge of the truth positions or relative distances of the receivers.Simulation test results show that the proposed D2SP spoofing detection method has the advantages of lower computational complexity and higher tolerance for multipath errors compared with the generalized likelihood ratio test (GLRT) method that is the current mainstream spoofing detection algorithm based on multiple receivers' differential pseudoranges.Moreover, it also shows better flexibility for different sizes of ROI and numbers of the crowdsourcing receivers.
A Global Navigation Satellite System (GNSS) receiver usually needs a sufficient number of full pseudorange measurements to obtain a position solution. However, it is time-consuming to acquire full pseudorange information from only the satellite broadcast signals due to the navigation data features of GNSS. In order to realize fast positioning during a cold or warm start in a GNSS receiver, the existing approaches require an initial estimation of position and time or require a number of computational steps to recover the full pseudorange information from fractional pseudoranges and then compute…
RNN-Based GNSS Positioning using Satellite Measurement Features and Pseudorange Residuals
CEA-Leti（法国原子能与替代能源委员会电子与信息技术实验室）；Université Grenoble Alpes（格勒诺布尔阿尔卑斯大学）；CY Cergy Paris Université（CY塞尔吉巴黎大学）；ENSEA（国立高等电子及应用学院）；CNRS（法国国家科学研究中心）；New York University (NYU)（纽约大学）；NYU Tandon School of Engineering（纽约大学坦登工程学院）；Univ. Gustave Eiffel（古斯塔夫·埃菲尔大学）
This paper develops, implements, and validates a powerful single-antenna carrier-phase-based test to detect Global Navigation Satellite Systems (GNSS) spoofing attacks on ground vehicles equipped with a low-cost inertial measurement unit (IMU). Increasingly-automated ground vehicles require precise positioning that is resilient to unusual natural or accidental events and secure against deliberate attack. This paper's spoofing detection technique capitalizes on the carrier-phase fixed-ambiguity residual cost produced by a well-calibrated carrier-phase-differential GNSS (CDGNSS) estimator that i…
A resilient and robust positioning, navigation, and timing (PNT) system is a necessity for the navigation of autonomous vehicles (AVs). Global Navigation Satelite System (GNSS) provides satellite-based PNT services. However, a spoofer can temper an authentic GNSS signal and could transmit wrong position information to an AV. Therefore, a GNSS must have the capability of real-time detection and feedback-correction of spoofing attacks related to PNT receivers, whereby it will help the end-user (autonomous vehicle in this case) to navigate safely if it falls into any compromises. This paper aims …
In this paper, we study the privately-own IRIDIUM satellite constellation, to provide a location service that is independent of the GNSS. In particular, we apply our findings to propose a new GNSS spoofing detection solution, exploiting unencrypted IRIDIUM Ring Alert (IRA) messages that are broadcast by IRIDIUM satellites. We firstly reverse-engineer many parameters of the IRIDIUM satellite constellation, such as the satellites speed, packet interarrival times, maximum satellite coverage, satellite pass duration, and the satellite beam constellation, to name a few. Later, we adopt the aforemen…
The University of Alabama（阿拉巴马大学）；MicroVision Inc.（MicroVision公司）；Clemson University（克莱姆森大学）
This paper presents a sensor fusion based Global Navigation Satellite System (GNSS) spoofing attack detection framework for autonomous vehicles (AV) that consists of two concurrent strategies: (i) detection of vehicle state using predicted location shift -- i.e., distance traveled between two consecutive timestamps -- and monitoring of vehicle motion state -- i.e., standstill/ in motion; and (ii) detection and classification of turns (i.e., left or right). Data from multiple low-cost in-vehicle sensors (i.e., accelerometer, steering angle sensor, speed sensor, and GNSS) are fused and fed into …
Intentional interference, and in particular GNSS spoofing, is currently one of the most significant concerns of the Positioning, Navigation and Timing (PNT) community. With the adoption of Open Service Navigation Message Authentication (OSNMA) in Galileo, the E1B signal component will continuously broadcast unpredictable cryptographic data. This allows GNSS receivers not only to ensure the authenticity of data origin but also to detect replay spoofing attacks for receivers already tracking real signals with relatively good visibility conditions. Since the spoofer needs to estimate the unpredic…
Observation of terrestrial GNSS interference (jamming and spoofing) from low-earth orbit (LEO) is a uniquely effective technique for characterizing the scope, strength, and structure of interference and for estimating transmitter locations. Such details are useful for situational awareness, interference deterrence, and for developing interference-hardened GNSS receivers. This paper presents the results of a three-year study of global interference, with emphasis on a particularly powerful interference source active in Syria since 2017. It then explores the implications of such interference for …
We propose an extension to the so-called PD detector. The PD detector jointly monitors received power and correlation profile distortion to detect the presence of GNSS carry-off-type spoofing, jamming, or multipath. We show that classification performance can be significantly improved by replacing the PD detector's symmetric-difference-based distortion measurement with one based on the post-fit residuals of the maximum-likelihood estimate of a single-signal correlation function model. We call the improved technique the PD-ML detector. In direct comparison with the PD detector, the PD-ML detect…
GNSS receivers are vulnerable to jamming and spoofing attacks, and numerous such incidents have been reported worldwide in the last decade. It is important to detect attacks fast and localize attackers, which can be hard if not impossible without dedicated sensing infrastructure. The notion of participatory sensing, or crowdsensing, is that a large ensemble of voluntary contributors provides the measurements, rather than relying on dedicated sensing infrastructure. This work considers embedded GNSS receivers to provide measurements for participatory jamming detection and localization. Specific…
This paper proposes an improved global navigation satellite system (GNSS) positioning method that explores the time correlation between consecutive epochs of the code and carrier phase measurements which significantly increases the robustness against outlier measurements. Instead of relying on the time difference carrier phase (TDCP) which only considers two neighboring epochs using an extended Kalman filter (EKF) estimator, this paper proposed to employ the carrier-phase measurements inside a window, the so-called window carrier-phase (WCP), to constrain the states inside a factor graph. A le…
Here we present datasets provided by a SCINDA GNSS receiver installed in the Lisbon airport area from November of 2014 to July of 2019. The installed equipment is a NovAtel EURO4 with a JAVAD Choke-Ring antenna. The data are in an archived format and include the general messages on quality of records (*.msg), RANGE files (*.rng), raw observables as the signal-to-noise (S/N) ratios, pseudoranges and phases (*.obs), receiver position information (*.psn), ionosphere scintillations monitor (ISMRB; *.ism) and ionospheric parameters: total electron content (TEC), rate of change of TEC index (ROTI), …
This work proposes a global navigation satellite system (GNSS) spoofing detection and classification technique for single antenna receivers. We formulate an optimization problem at the baseband correlator domain by using the Least Absolute Shrinkage and Selection Operator (LASSO). We model correlator tap outputs of the received signal to form a dictionary of triangle-shaped functions and leverage sparse signal processing to choose a decomposition of shifted matching triangles from said dictionary. The optimal solution of this minimization problem discriminates the presence of a potential spoof…
This paper presents the new generation of LabVIEW-based GPS receiver testbed that is based on National Instruments' (NI) LabVIEW (LV) platform in conjunction to C/C++ dynamic link libraries (DLL) used inside the platform for performance execution. This GPS receiver has been optimized for real-time operation and has been developed for fast prototyping and easiness on future additions and implementations to the system. The receiver DLLs are divided into three baseband modules: acquisition, tracking, and navigation. The openness of received baseband modules allows for extensive research topics su…
KU Leuven（荷语鲁汶大学）；DG DEFIS, European Commission（欧盟委员会防卫工业与太空总局）；Septentrio, part of Hexagon（Hexagon旗下Septentrio公司）；Univ. Autonoma de Barcelona (UAB), CERES, IEEC（巴塞罗那自治大学）
Analyzing and Characterizing Multi-Source Interference Effects at Jammertest Norway 2025
Fraunhofer Institute for Integrated Circuits IIS（弗劳恩霍夫集成电路研究所）；Friedrich-Alexander University (FAU) Erlangen-Nürnberg（弗里德里希·亚历山大大学）；University of Navarra（纳瓦拉大学）；Tampere University（坦佩雷大学）；University of Applied Sciences Erlangen-Nuremberg（埃尔朗根-纽伦堡应用科学大学）
