Next Article in Journal
Human-like Decision-Making System for Overtaking Stationary Vehicles Based on Traffic Scene Interpretation
Previous Article in Journal
A Fast Storage Method for Drone-Borne Passive Microwave Radiation Measurement
Article

GNSS Spoofing Detection Based on Coupled Visual/Inertial/GNSS Navigation System

by 1,2, 1,* and 1,2
1
Department of Precision Instrument, Tsinghua University, Beijing 100084, China
2
Beijing Innovation Center for Future Chips (ICFC), Beijing 100084, China
*
Author to whom correspondence should be addressed.
Academic Editor: Ali Khenchaf
Sensors 2021, 21(20), 6769; https://doi.org/10.3390/s21206769
Received: 30 August 2021 / Revised: 7 October 2021 / Accepted: 9 October 2021 / Published: 12 October 2021
(This article belongs to the Section Navigation and Positioning)
Spoofing attacks are one of the severest threats for global navigation satellite systems (GNSSs). This kind of attack can damage the navigation systems of unmanned air vehicles (UAVs) and other unmanned vehicles (UVs), which are highly dependent on GNSSs. A novel method for GNSS spoofing detection based on a coupled visual/inertial/GNSS positioning algorithm is proposed in this paper. Visual inertial odometry (VIO) has high accuracy for state estimation in the short term and is a good supplement for GNSSs. Coupled VIO/GNSS navigation systems are, unfortunately, also vulnerable when the GNSS is subject to spoofing attacks. The method proposed in this article involves monitoring the deviation between the VIO and GNSS under an optimization framework. A modified Chi-square test triggers the spoofing alarm when the detection factors become abnormal. After spoofing detection, the optimal estimation algorithm is modified to prevent it being deceived by the spoofed GNSS data and to enable it to carry on positioning. The performance of the proposed spoofing detection method is evaluated through a real-world visual/inertial/GNSS dataset and a real GNSS spoofing attack experiment. The results indicate that the proposed method works well even when the deviation caused by spoofing is small, which proves the efficiency of the method. View Full-Text
Keywords: GNSS spoofing; spoofing detection; coupled visual/inertial/GNSS system; visual inertial odometry; Chi-square testing GNSS spoofing; spoofing detection; coupled visual/inertial/GNSS system; visual inertial odometry; Chi-square testing
Show Figures

Figure 1

MDPI and ACS Style

Gu, N.; Xing, F.; You, Z. GNSS Spoofing Detection Based on Coupled Visual/Inertial/GNSS Navigation System. Sensors 2021, 21, 6769. https://doi.org/10.3390/s21206769

AMA Style

Gu N, Xing F, You Z. GNSS Spoofing Detection Based on Coupled Visual/Inertial/GNSS Navigation System. Sensors. 2021; 21(20):6769. https://doi.org/10.3390/s21206769

Chicago/Turabian Style

Gu, Nianzu, Fei Xing, and Zheng You. 2021. "GNSS Spoofing Detection Based on Coupled Visual/Inertial/GNSS Navigation System" Sensors 21, no. 20: 6769. https://doi.org/10.3390/s21206769

Find Other Styles
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop