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Research ArticleOriginal Article
Open Access

Results on GNSS Spoofing Mitigation Using Multiple Receivers

Niklas Stenberg, Erik Axell, Jouni Rantakokko, and Gustaf Hendeby
NAVIGATION: Journal of the Institute of Navigation March 2022, 69 (1) navi.510; DOI: https://doi.org/10.33012/navi.510
Niklas Stenberg
1Department of Robust Telecommunications, Swedish Defence Research Agency (FOI), Linköping, Sweden
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Erik Axell
1Department of Robust Telecommunications, Swedish Defence Research Agency (FOI), Linköping, Sweden
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  • For correspondence: [email protected]
Jouni Rantakokko,
1Department of Robust Telecommunications, Swedish Defence Research Agency (FOI), Linköping, Sweden
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Gustaf Hendeby
2Department of Electrical Engineering (ISY), Linköping University, Linköping, Sweden
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  • FIGURE 1
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    FIGURE 1

    Pseudorange double differences in a spoofing scenario for a single satellite pair PRN 5 and 29 and two receivers separated by 100 meters

  • FIGURE 2
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    FIGURE 2

    Carrier-phase double differences in a spoofing scenario for a single satellite pair PRN 5 and 29 and two receivers separated by 100 meters; each double difference has had its initial value removed to facilitate comparison.

  • FIGURE 3
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    FIGURE 3

    Overview of the prototype implementation; this work has made modifications or implementations in the gray blocks whereas the other blocks indicate software or hardware that were used without modifications.

  • FIGURE 4
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    FIGURE 4

    Simulated positions of the receivers and the meaconer

  • FIGURE 5
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    FIGURE 5

    The performance of Detector 1b using pseudoranges and Detector 2b using carrier phases for Scenarios (Sc.) 1–8; average number of correctly authenticated signals is shown as a function of the length of the observation window. In total seven authentic and seven spoofing signals were tracked.

  • FIGURE 6
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    FIGURE 6

    Average number of correctly authenticated signals as a function of observation time; the scenario with receivers 1, 6, and 7 (5-meter distances) used Receiver 6 as reference. The scenario with receivers 1, 3, 4, and 10 (50-meter distances) used Receiver 1 as reference. In total, seven authentic and seven spoofing signals were tracked.

  • FIGURE 7
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    FIGURE 7

    Receiver positions and the position of transmitting and receiver antennas of spoofing system in live-sky tests

  • FIGURE 8
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    FIGURE 8

    Estimated J/N using receiver Rx B over 30-s ramp steps showing a theoretical ramp adjusted with the help of the USRP-estimated J/N

  • FIGURE 9
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    FIGURE 9

    Horizontal position error based on position computations from GNSS-SDR; ramp in J/N (dB) based on USRP data with averaging over the 30-s ramp steps

  • FIGURE 10
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    FIGURE 10

    Correlation function at time instance 09:28:25, receiver Rx A and PRN 1

  • FIGURE 11
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    FIGURE 11

    Horizontal error with receiver Rx B and estimated J/N using averaging over the 30-s ramp intervals

  • FIGURE 12
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    FIGURE 12

    Horizontal error with receiver Rx A and estimated J/N using averaging over the 30-s ramp intervals

Tables

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    TABLE 1

    Different detectors for identification of spoofed measurements

    DetectorMeasurementEquationNoise variance
    1aPseudorange(11)known
    1bPseudorange(13)unknown
    2aCarrier phase(11)known
    2bCarrier Phase(13)unknown
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    TABLE 2

    Simulation scenario parameters

    ParameterValue
    Start time01-Jul-2012 20:00:00 UTC
    Simulation time20 min
    Base positiona59°, 17°, 100 m (lat., lon., height)
    Simulated signalGPS C/A code on the L1 frequency
    Satellite orbitsNominal
    • ↵a The position that the receiver positions are defined in relation to.

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    TABLE 3

    Receivers used in each scenario and the distance between the receivers in each scenario; the direction that the receivers are located on is specified as either SE-NW (southeast to northwest) or SW-NE (southwest to northeast).

    ScenarioReceiversReceiver distance (m)Direction
    1Rx1, Rx2100SE-NW
    2Rx3, Rx4100SW-NE
    3Rx1, Rx51SE-NW
    4Rx1, Rx65SE-NW
    5Rx1, Rx710SE-NW
    6Rx1, Rx820SE-NW
    7Rx1, Rx935SE-NW
    8Rx1, Rx1050SE-NW
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    TABLE 4

    Combination of multiple receivers; the reference receiver is underlined. Distance equates to distance to reference receiver.

    DistanceReceiversCombinations
    51,6,7{1, 6}, {6, 7}, {1, 6, 7}
    501,3,4,10{1, 4}, {1, 10}, {1, 4, 10}, … {1, 3, 4, 10}

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NAVIGATION: Journal of the Institute of Navigation: 69 (1)
NAVIGATION: Journal of the Institute of Navigation
Vol. 69, Issue 1
Spring 2022
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Results on GNSS Spoofing Mitigation Using Multiple Receivers
Niklas Stenberg, Erik Axell, Jouni Rantakokko,, Gustaf Hendeby
NAVIGATION: Journal of the Institute of Navigation Mar 2022, 69 (1) navi.510; DOI: 10.33012/navi.510

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Results on GNSS Spoofing Mitigation Using Multiple Receivers
Niklas Stenberg, Erik Axell, Jouni Rantakokko,, Gustaf Hendeby
NAVIGATION: Journal of the Institute of Navigation Mar 2022, 69 (1) navi.510; DOI: 10.33012/navi.510
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  • Article
    • Summary
    • 1 INTRODUCTION
    • 2 SYSTEM MODEL AND PROPOSED ALGORITHMS
    • 3 IMPLEMENTATION
    • 4 SIMULATION TESTS
    • 5 LIVE-SKY TESTS
    • 6 PRACTICAL CONSIDERATIONS AND IMPLEMENTATION ASPECTS
    • 7 CONCLUSION
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Keywords

  • carrier phase
  • double difference
  • GNSS spoofing
  • pseudorange
  • spoofing mitigation

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