Anti-spoofing Kalman filter for GPS/rotational INS integration. (April 2022)

• Record Type: Journal Article
• Authors: Liang, Wenwei; Li, Kui; Li, Qihang
• Is Part Of: Measurement. Volume 193(2022)
• Publication Date: 2022-04
• Subjects: GPS -- Inertial navigation -- Kalman filters -- Rotational INS -- Spoofing detection; Weights and measures -- Periodicals; Measurement -- Periodicals; Measurement; Weights and measures; Periodicals; 530.8
• DOI: 10.1016/j.measurement.2022.110962
• Languages: English
• ISSNs: 0263-2241

Abstract

Highlights: An anti-spoofing Kalman filter for the integration of GPS and Rotation INS is proposed. A GPS spoofing detector based on the inertial navigation error propagation equation is designed. A GPS spoofing detector based on the prediction error of Kalman filter is designed. The process for the anti-spoofing Kalman filter is designed. The experiment results show that this method can achieve high positioning accuracy under GPS spoofing. Abstract: The navigation and positioning accuracy of the carrier can be effectively improved through the integrated navigation of GPS and Inertial navigation system (INS). However, signals from GPS satellites are affected by the external environment, which may reduce the positioning accuracy of GPS. More seriously, the GPS receiver may receive spoofing signals, resulting in positioning errors in the integrated navigation. Therefore, an anti-spoofing integrated navigation method is proposed in this paper. The error propagation characteristics of inertial navigation and the prediction estimation value in Kalman filter are used to detect the spoofing. After spoofing detection, credible GPS positioning results are used for Kalman filter as measurements. The method proposed in this paper can effectively improve the accuracy and robustness of integrated navigation. At the same time, it does not need to modify the existing GPS equipment or additional equipment. The effectiveness of the method is verified by simulation and vehicular experiments.