Abstract
Spoofing attacks have become an increasing threat to global navigation satellite system receivers. Existing anti-spoofing algorithms concentrate on the detection of these attacks; however, they are unable to prevent the counterfeit signal, which causes false position and timing results. Some defense techniques require the assistance of other sensors or measurement devices located at different positions. These impose many restrictions on the practical applications of anti-spoofing algorithms. In this study, the multicorrelator estimator, designed initially to prevent multipath signals, is applied to detect and mitigate spoofing. A statistic is proposed for spoofing detection based on the code phase difference between counterfeit and authentic signals. This statistic can significantly reduce the rate of false and missed alarms. Assuming there is no spoofing at the beginning, the pseudorange difference between epochs is derived for spoofing validation, allowing spoofing suppression in a single receiver. Based on this study, an estimation-validation-mitigation structure is presented. A robust extended Kalman filter is proposed to reduce gross errors in the multicorrelator measurements and improve estimation accuracy. Public-spoofing datasets recorded in real environments were used to verify the performance of different parameters. A total of 81 complex correlators were introduced in the experiments. Results show that using the proposed scheme, the position or time offsets caused by spoofing drop from 600 m to approximately 20 m, and the spoofing is mitigated considerably. The proposed method provides an effective anti-spoofing structure that requires only a single antenna and does not require additional sensors.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Akos DM (2012) Who’s afraid of the spoofer? GPS/GNSS spoofing detection via automatic gain control (AGC). Navigation 59(4):281–290. https://doi.org/10.1002/navi.19
Bhatti J, Humphreys TE (2017) Hostile control of ships via false GPS signals: demonstration and detection. Navigation 64(1):51–66. https://doi.org/10.1002/NAVI.183
Blanco-Delgado N, Nunes FD (2012) Multipath estimation in multicorrelator gnss receivers using the maximum likelihood principle. IEEE Trans Aerosp Electron Syst 48(4):3222–3233. https://doi.org/10.1109/TAES.2012.6324696
Cavaleri A, Motella B, Pini M, Fantino M (2010) Detection of spoofed GPS signals at code and carrier tracking level. 5th ESA Workshop on Satellite Navigation Technologies and European Workshop on GNSS Signals and Signal Processing (NAVITEC). Noordwijk, Netherlands, pp 8–10. https://doi.org/10.1109/NAVITEC.2010.5708016
Chao S, Cheong JW, Dempster DL, Cetin E, Zhao H, Feng W (2018) Moving variance-based signal quality monitoring method for spoofing detection. GPS Solut 22:83. https://doi.org/10.1007/s10291-018-0745-7
Chen X, Dovis F (2011) Enhanced CADLL Structure for Multipath Mitigation in Urban Scenarios. Proc. ION GNSS 2011, Institute of Navigation, San Diego, CA, 24–26, 678–686.
Dong Y, Wang D, Zhang L, Li Q, Wu J (2020) Tightly coupled GNSS/INS integration with robust sequential kalman filter for accurate vehicular navigation. Sensors 20(2):561. https://doi.org/10.3390/s20020561
Gaglione S, Angrisano A, Crocetto N (2019) Robust Kalman filter applied to GNSS positioning in harsh environment European Navigation Conference (ENC), Warsaw, Poland, p 9 12
Gao Y, Lv Z, Zhang L (2020) Asynchronous lift-off spoofing on satellite navigation receivers in the signal tracking stage. IEEE Sens J 20(15):8604–8613. https://doi.org/10.1109/JSEN.2020.2984525
Gross JN, Kilic C, Humphreys TE (2019) Maximum-likelihood power-distortion monitoring for GNSS signal authentication. IEEE Trans Aerosp Electron Syst 55(1):469–475. https://doi.org/10.1109/TAES.2018.2848318
Guo Y, Miao L, Zhang X (2019) Spoofing detection and mitigation in a multi-correlator GPS receiver based on the maximum likelihood principle. Sensors 19(1):37. https://doi.org/10.3390/s19010037
He L, Li H, Lu M (2019) Dual-antenna GNSS spoofing detection method based on doppler frequency difference of arrival. GPS Solut 23:78. https://doi.org/10.1007/s10291-019-0868-5
Humphreys TE (2013) Detection strategy for cryptographic GNSS anti-spoofing. IEEE Trans Aerosp Electron Syst 49(2):1073–1090. https://doi.org/10.1109/TAES.2013.6494400
Humphreys TE, Bhatti J, Shepard D, Wesson KD (2012) The Texas Spoofing test battery: Toward a standard for evaluating GNSS signal authentication techniques. Proc ION GNSS 2012. Institute of Navigation, Nashville, pp 3569–3583
Hu Y, Bian S, Cao K, Ji B (2018) GNSS spoofing detection based on new signal quality assessment model. GPS Solut 22:28. https://doi.org/10.1007/s10291-017-0693-7
Juang J (2009) Analysis of global navigation satellite system position deviation under spoofing. IET Radar Sonar Navig 3(1):1–7. https://doi.org/10.1049/IET-RSN:20070153
Kaplan ED, Hegarty CJ (2006) Understanding GPS: Principles and applications, Second Edition. ARTECH HOUSE, INC: 685 Canton Street, Norwood, MA, USA
Kerns AJ, Shepard DP, Bhatti JA, Humphreys TE (2014) unmanned aircraft capture and control via GPS spoofing. J Field Robotics 31(4):617–636. https://doi.org/10.1002/rob.21513
Kujur B Khanafseh S Pervan B (2020) Detecting GNSS spoofing of ADS-B equipped aircraft using INS. In: 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) USA, p 548 554. https://doi.org/10.1109/PLANS46316.2020.9109966
Li J, Li W, Fu Q, Liu B (2019) Research progress of GNSS spoofing and spoofing detection technology. In: IEEE 19th International Conference on Communication Technology (ICCT) Xian, China, p 1360–1369 https://doi.org/10.1109/icct46805.2019.8947107
Liu Y, Li S, Fu Q, Liu Z (2018) Impact assessment of GNSS spoofing attacks on INS/GNSS integrated navigation system. Sensors 18(5):1433–1452. https://doi.org/10.3390/s18051433
Liu Y, Li S, Fu Q, Liu Z, Zhou Q (2019) Analysis of Kalman filter innovation based GNSS spoofing detection method for INS/GNSS integrated navigation system. IEEE Sens J 19(13):5167–5178. https://doi.org/10.1109/JSEN.2019.2902178
Ma C, Yang J, Chen J, Qu Z, Zhou C (2020) Effects of a navigation spoofing signal on a receiver loop and a UAV spoofing approach. GPS Solut 24:76. https://doi.org/10.1007/s10291-020-00986-z
Magiera J (2019) A multi-antenna scheme for early detection and mitigation of intermediate GNSS spoofing. Sensors 19(10):2411. https://doi.org/10.3390/s19102411
Manfredini EG, Dovis F (2016) On the use of a feedback tracking architecture for satellite navigation spoofing detection. Sensors 16(12):2051. https://doi.org/10.3390/s16122051
Onishi H, Yoshida K, Kato T (2016) GNSS vulnerabilities and vehicle applications. IEEE 2016 13th Workshop on Positioning. Navigation and Communications (WPNC) Bremen, Germany. https://doi.org/10.1109/WPNC.2016.7822853
Psiaki ML, Humphreys TE (2016) GNSS spoofing and detection. Proc IEEE 104(6):1258–1270. https://doi.org/10.1109/JPROC.2016.2526658
Psiaki ML, O’Hanlon BW, Bhatti JA, Shepard DP, Humphreys TE (2013) GPS spoofing detection via dual-receiver correlation of military signals. IEEE Trans Aerosp Electron Syst 49(4):2250–2267. https://doi.org/10.1109/TAES.2013.6621814
Qi W, Zhang Y, Liu X (2016) A GNSS anti-spoofing technology based on Doppler shift in vehicle networking. 2016 International Wireless Communications and Mobile Computing Conference (IWCMC). Paphos, Cyprus, pp 725–729. https://doi.org/10.1109/IWCMC.2016.7577146
Richard DJ, Van N (1992) The multipath estimating delay lock loop. IEEE Second International Symposium on Spread Spectrum Techniques and Applications. Yokohama, Japan, pp 39–42. https://doi.org/10.1109/ISSSTA.1992.665623
Seo SH, Lee BH, Im SH, Jee GI, Kim KS (2018) Efficient spoofing identification using baseline vector information of multiple receivers. GPS Solut 22:115. https://doi.org/10.1007/s10291-018-0779-x
Shepard DP, Humphreys TE, Fansler AA (2012) Evaluation of the vulnerability of phasor measurement units to GPS spoofing attacks. Int J Crit Infrastruct Prot 5(3–4):146–153. https://doi.org/10.1016/j.ijcip.2012.09.003
Sokhandan N, Curran JT, Broumandan A, Lachapelle G (2016) An advanced GNSS code multipath detection and estimation algorithm”. GPS Solut 20:627–640. https://doi.org/10.1007/s10291-015-0475-z
Stenberg N Axell E Rantakokko J Hendeby G (2020) GNSS spoofing mitigation using multiple receivers. In: 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) Portland, OR USA, p.555 565. https://doi.org/10.1109/PLANS46316.2020.9109958
Wang F, Li H, Lu M (2017) GNSS spoofing detection and mitigation based on maximum likelihood estimation. Sensors 17(7):1532. https://doi.org/10.3390/s17071532
Wang F, Li H, Lu M (2018) GNSS spoofing detection based on unsynchronized double-antenna measurements. IEEE Access 6:31203–31212. https://doi.org/10.1109/ACCESS.2018.2845365
Wang P, Morton YJ (2020) Multipath estimating delay lock loop for LTE signal TOA estimation in indoor and urban environments. IEEE Trans Wireless Commun 19(8):5518–5530. https://doi.org/10.1109/TWC.2020.2994037
Xie G (2009) Principles of GPS and receiver design. Publishing House of Electronics Industry, Beijing
Yang Y, He H, Xu G (2001) Adaptively robust filtering for kinematic geodetic positioning. J Geodisics 75:109–116. https://doi.org/10.1007/s001900000157
Acknowledgements
The authors thank the Radionavigation Laboratory of the University of Texas at Austin for providing the datasets. We would like to acknowledge the reviewers for their valuable comments. This work was supported in part by the National Science Foundation of China under Grant 41674027.
Author information
Authors and Affiliations
Corresponding author
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Shang, X., Sun, F., Zhang, L. et al. Detection and mitigation of GNSS spoofing via the pseudorange difference between epochs in a multicorrelator receiver. GPS Solut 26, 37 (2022). https://doi.org/10.1007/s10291-022-01224-4
Received:
Accepted:
Published:
DOI: https://doi.org/10.1007/s10291-022-01224-4