GNSS/INS spoofing detection method based on combined epoch innovation robustness

Aiming at the problems that the traditional global navigation satellite system/inertial navigation system (GNSS/INS) innovation average robust spoofing detection algorithm has long detection delay for step spoofing and is insensitive to slow-growing slope spoofing, a GNSS/INS spoofing detection method based on combined epoch innovation robustness is proposed. The detection method combines the single epoch innovation and multi-epoch innovation average detection method to improve the detection efficiency, constructs multi-epoch equivalent weight factors to weaken the influence of deception, and detects spoofing types for classification processing. The experimental results show that the proposed method is more sensitive than the single-epoch innovation detection method and the innovation average detection method, and can detect the 10 m step spoofing that cannot be detected by the single-epoch innovation and the 0.03 m/s slope spoofing that cannot be detected by the innovation average detection method. The multi-epoch equivalent weight factor can weaken the influence of error tracking effect on the innovation before the slope deception is detected. In the multi-channel spoofing scenario, the proposed method shortens the detection delay by 21.3%, and the maximum position error and root mean square error with the real trajectory are reduced by 86.6% and 96.8% respectively by classifying spoofing. © 2024 Editorial Department of Journal of Chinese Inertial Technology. All rights reserved.