A spoofing detection algorithm for INS/GNSS integrated navigation system based on innovation rate and robust estimation

被引：0
|
作者：
Zhang C. [1 ]
Lv Z. [1 ,2 ]
Zhang L. [1 ]
Gao Y. [1 ,2 ]
机构：
[1] Information Engineering University, Zhengzhou
[2] State Key Laboratory of Geo-Information Engineering, Xi'an
来源：
Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology | 2021年 / 29卷 / 03期
关键词：
Innovation rate; INS/GNSS integrated navigation; Robust estimation; Spoofing detection;
D O I：
10.13695/j.cnki.12-1222/o3.2021.03.008
中图分类号：
学科分类号：
摘要：
The spoofing detection algorithm based on innovation is often used in INS/GNSS integrated navigation system. To cope with the problems of long detection time, high missing alarm rate and false alarm rate for synchronized spoofing, a spoofing detection algorithm for INS/GNSS integrated navigation system based on innovation rate and robust estimation is proposed. The innovation rate estimated by Kalman filter in the proposed algorithm is used as test statistics to detect GNSS spoofing, and the robust estimation is used to reduce the distortion of innovations under GNSS spoofing. Furthermore, the detection ability of the algorithm is further improved by adjusting the parameters of the equivalent weight function. The simulation results show that the detection time for synchronized spoofing with the induction rate of 0.1 m/s is reduced by more than 60%. When the satellite signal below 3 channels is spoofed, the false alarm rate and the missing alarm rate can be maintained within 4% by selecting the appropriate detection threshold. © 2021, Editorial Department of Journal of Chinese Inertial Technology. All right reserved.
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页码：328 / 333
页数：5
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