Robust GNSS spoofing detection against UE maneuver in a GNSS-5G mmWave hybrid positioning system

Hybrid positioning methods fusing Global Navigation Satellite System (GNSS) and the fifth generation (5G) measurements are receiving growing interest. These methods can address the limitations of individual GNSS positioning techniques and improve the security and reliability of positioning services. Particularly, 5G signals are impervious to GNSS spoofing attacks and have the potential to assist GNSS user equipment (UE) in detecting hazardous spoofing attacks. However, the conventional innovation-based fault detection scheme in a GNSS-5G hybrid system has a high false alarm probability due to UE maneuvers. In this paper, a new type of spoofing test statistic has been constructed by modifying the innovation in the conventional detection method. It utilizes GNSS single-point positioning results to predict the current 5G measurements, instead of the EKF-based predicted measurements. The difference between the newly predicted 5G measurements and the actual 5G measurements is used to construct a new type of innovation for spoofing detection. Simulations and two real driving tests were carried out, and the results indicate that the proposed method significantly mitigates the false detection problem due to UE’s maneuvers while enhancing the spoofing detection capability.