Design of GNSS/INS Integrated Navigation Spoofing Algorithm Under Road Environment Condition

Aiming at the spoofing demand of integrated navigation system for ground targets, this paper proposes a GNSS/INS integrated navigation spoofing algorithm under road environment condition. Firstly, the road network topology map of the target area is constructed, and the constraint conditions of path planning based on graph search are established. Then, the pruning strategy and the breadth-first search strategy are used to search for the spoofing start point and the spoofing target point that meet the constraint conditions. When the spoofing target reaches the spoofing start point, the spoofing target is spoofed. Next, the navigation and positioning result of the spoofing target is spoofed to the spoofing target point, so the navigation system of the spoofing target will regenerate a spoofing route, the spoofing target will be spoofed to the spoofing destination according to the navigation instructions of the spoofing route. Finally, the effectiveness and correctness of the algorithm are verified by simulation and experiment.