GNSS spoofing detection for single antenna receivers via CNR variation monitoring

doi:10.23919/JSEE.2024.000049

Journal of Systems Engineering and Electronics ›› 2024, Vol. 35 ›› Issue (5): 1276-1286.doi: 10.23919/JSEE.2024.000049

• CONTROL THEORY AND APPLICATION • Previous Articles Next Articles

GNSS spoofing detection for single antenna receivers via CNR variation monitoring

Maoyou LIAO(), Xu LYU(), Ziyang MENG(), Zheng YOU()

Department of Precision Instrument, Tsinghua University, Beijing 100084, China

Received:2023-12-14 Online:2024-10-18 Published:2024-11-06
Contact: Zheng YOU E-mail:liaomy17@mails.tsinghua.edu.cn;lvclay@163.com;ziyangmeng@tsinghua.edu.cn;yz-dpi@mail.tsinghua.edu.cn
About author:
LIAO Maoyou was born in 1993. He received his B.S. degree in instruments science and technology from the Department of Precision Instrument, Tsinghua University, Beijing, China, in 2015. He is currently a doctoral student in the Department of Precision Instrument, Tsinghua University, Beijing, China. His research interests include satellite navigation, inertial navigation systems, and integrated navigation. E-mail: liaomy17@mails.tsinghua.edu.cn

LYU Xu was born in 1990. He received his B.S. and M.S. degrees in control theory and control engineering from the Department of Electrical Engineering, Liaoning University of Technology, Jinzhou, China in 2014 and 2019, respectively, and Ph.D. degree in navigation, guidance and control from the Department of Navigation Engineering, Naval University of Engineering, Wuhan, China, in 2022. He is currently a postdoctoral fellow with the Department of Precision Instrument, Tsinghua University, Beijing, China. His research interests include inertial navigation systems, integrated navigation, and predictive control. E-mail: lvclay@163.com

MENG Ziyang was born in 1984. He received his B.S. degree from Huazhong University of Science and Technology, Wuhan, China in 2006, and Ph.D. degree from Tsinghua University, Beijing, China, in 2010. He was an exchange Ph.D. student with Utah State University, Logan, UT, USA, from 2008 to 2009. He is currently an associate professor with the Department of Precision Instrument, Tsinghua University. Prior to joining Tsinghua University, he was a post doctoral researcher, a researcher, and a Humboldt research fellow with Shanghai Jiao Tong University, Shanghai, China, the KTH Royal Institute of Technology, Stockholm, Sweden, and the Technical University of Munich, Munich, Germany, respectively, from 2010 to 2015. His research interests include distributed control and optimization and intelligent navigation technique. E-mail: ziyangmeng@tsinghua.edu.cn

YOU Zheng was born in 1963. He received his B.S., M.S., and Ph.D. degrees from Huazhong University of Science and Technology, Wuhan, China, in 1985, 1987, and 1990, respectively. After graduation, he joined the Faculty of the Department of Precision Instruments and Mechanology, Tsinghua University, as an assistant professor. He became an associate professor, in 1992, and a full professor, in 1994. In 2015, he was the vice president of Tsinghua University. His research interests include micro-nano technology and micro-nano satellite technology. E-mail: yz-dpi@mail.tsinghua.edu.cn
Supported by:
This work was supported by the National Natural Science Foundation of China (62273195).

Abstract

Abstract:

In this paper, a method for spoofing detection based on the variation of the signal’s carrier-to-noise ratio (CNR) is proposed. This method leverages the directionality of the antenna to induce varying gain changes in the signals across different incident directions, resulting in distinct CNR variations for each signal. A model is developed to calculate the variation value of the signal CNR based on the antenna gain pattern. This model enables the differentiation of the variation values of the CNR for authentic satellite signals and spoofing signals, thereby facilitating spoofing detection. The proposed method is capable of detecting spoofing signals with power and CNR similar to those of authentic satellite signals. The accuracy of the signal CNR variation value calculation model and the effectiveness of the spoofing detection method are verified through a series of experiments. In addition, the proposed spoofing detection method works not only for a single spoofing source but also for distributed spoofing sources.

Key words: spoofing detection, global navigation satellite system (GNSS), variation of carrier-to-noise ratio (CNR), antenna directionality

Maoyou LIAO, Xu LYU, Ziyang MENG, Zheng YOU. GNSS spoofing detection for single antenna receivers via CNR variation monitoring[J]. Journal of Systems Engineering and Electronics, 2024, 35(5): 1276-1286.

Figures/Tables 12

Fig 1

Fig 2

Fig 3

Fig 4

Fig 5

Fig 6

Fig 7

Fig 8

Fig 9

Fig 10

Table 1

Table 2

References 30

1	MISRA P, ENGE P. Global position system signal, measurement, and performance. 2nd ed. Beijing: Publishing House of Electronics Industry, 2008. (in Chinese)
2	HWANG S, SHYNK J J A null despreader for interference suppression in GPS. International Journal of Satellite Communications and Networking, 2011, 29 (4): 315- 332. doi: 10.1002/sat.976
3	PSIAKI M L, HUMPHREYS T E GNSS spoofing and detection. Proceedings of the IEEE, 2016, 104 (6): 1258- 1270. doi: 10.1109/JPROC.2016.2526658
4	HUMPHREYS T E, LEDVINA B M, PSIAKI M L, et al. Assessing the spoofing threat: development of a portable GPS civilian spoofer. Proc. of the 21st International Technical Meeting of the Satellite Division of The Institute of Navigation, 2008: 2314−2325.
5	TANIL C, KHANAFSEH S, JOERGER M, et al An INS monitor to detect GNSS spoofers capable of tracking vehicle position. IEEE Trans. on Aerospace and Electronic Systems, 2017, 54 (1): 131- 143.
6	TANIL C, JIMENEZ P M, RAVELOHARISON M, et al. Experimental validation of INS monitor against GNSS spoofing. Proc. of the 31st International Technical Meeting of the Satellite Division of the Institute of Navigation, 2018: 2923−2937.
7	DASGUPTA S, RAHMAN M, ISLAM M, et al A sensor fusion-based GNSS spoofing attack detection framework for autonomous vehicles. IEEE Trans. on Intelligent Transportation Systems, 2022, 23 (12): 23559- 23572. doi: 10.1109/TITS.2022.3197817
8	MANICKAM S, O'KEEFE K. Using tactical and MEMS grade INS to protect against GNSS spoofing in automotive applications. Proc. of the 29th International Technical Meeting of the Satellite Division of the Institute of Navigation, 2016: 2991−3001.
9	LYU X, HU B Q, WANG Z, et al A SINS/GNSS/VDM integrated navigation fault-tolerant mechanism based on adaptive information sharing factor. IEEE Trans. on Instrumentation and Measurement, 2022, 71, 1- 13.
10	LYU X, HU B Q, DAI Y B, et al Gaussian process regression-based quaternion unscented Kalman robust filter for integrated SINS/GNSS. Journal of Systems Engineering and Electronics, 2022, 33 (5): 1079- 1088. doi: 10.23919/JSEE.2022.000105
11	HEWITSON S, WANG J L GNSS receiver autonomous integrity monitoring (RAIM) performance analysis. GPS Solutions, 2006, 10, 155- 170. doi: 10.1007/s10291-005-0016-2
12	KUUSNIEMI H, BLANCH J, CHEN Y H, et al. Feasibility of fault exclusion related to advanced RAIM for GNSS spoofing detection. Proc. of the 30th International Technical Meeting of the Satellite Division of the Institute of Navigation, 2017: 2359−2370.
13	CHU F K, LI H, LU M Q. A GNSS spoofing detection method based on the consistency of measured and calculated carrier dopplers. Proc. of the ION Pacific PNT Meeting, 2017: 832−841.
14	CAVALERI A, MOTELLA B, PINI M, et al. Detection of spoofed GPS signals at code and carrier tracking level. Proc. of the 5th ESA Workshop on Satellite Navigation Technologies and European Workshop on GNSS Signals and Signal Processing, 2010: 1−6.
15	HUANG J, PRESTI L L, MOTELLA B, et al GNSS spoofing detection: theoretical analysis and performance of the ratio test metric in open sky. ICT Express, 2016, 2 (1): 37- 40. doi: 10.1016/j.icte.2016.02.006
16	OCHIN E, DOBRYAKOVA L Antiterrorism: design and analysis of GNSS antispoofing algorithms. Zeszyty Naukowe/Akademii Morskiej w Szczecinie, 2012, 30 (102): 93- 101.
17	WESSON K D, GROSS J N, HUMPHREYS T E, et al GNSS signal authentication via power and distortion monitoring. IEEE Trans. on Aerospace and Electronic Systems, 2017, 54 (2): 739- 754.
18	AKOS D M Who’s afraid of the spoofer? GPS/GNSS spoofing detection via automatic gain control (AGC). NAVIGATION: Journal of the Institute of Navigation, 2012, 59 (4): 281- 290. doi: 10.1002/navi.19
19	DEHGHANIAN V, NIELSEN J, LACHAPELLE G. GNSS spoofing detection based on receiver C/N₀ estimates. Proc. of the 25th International Technical Meeting of The Satellite Division of the Institute of Navigation, 2012: 2878−2884.
20	JAFARNIA JAHROMI A, BROUMANDAN A, NIELSEN J, et al GPS spoofer countermeasure effectiveness based on signal strength, noise power, and C/N₀ measurements. International Journal of Satellite Communications and Networking, 2012, 30 (4): 181- 191. doi: 10.1002/sat.1012
21	HUMPHREYS T E Detection strategy for cryptographic GNSS anti-spoofing. IEEE Trans. on Aerospace and Electronic Systems, 2013, 49 (2): 1073- 1090. doi: 10.1109/TAES.2013.6494400
22	QIAO Z C, EL ASSAD S, TARALOVA I Design of secure cryptosystem based on chaotic components and AES S-Box. AEU-International Journal of Electronics and Communications, 2020, 121, 153205.
23	ESSWEIN M C, PSIAKI M L. GNSS anti-spoofing for a multi-element antenna array. Proc. of the 32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, 2019: 3197−3214.
24	APPEL M, ILIOPOULOS A, FOHLMEISTER F, et al Experimental validation of GNSS repeater detection based on antenna arrays for maritime applications. CEAS Space Journal, 2019, 11, 7- 19. doi: 10.1007/s12567-018-0232-6
25	PSIAKI M L, OHANLON B W, POWELL S P, et al. GNSS spoofing detection using two-antenna differential carrier phase. Proc. of the 27th International Technical Meeting of the Satellite Division of the Institute of Navigation, 2014: 2776−2800.
26	BORIO D, GIOIA C A sum-of-squares approach to GNSS spoofing detection. IEEE Trans. on Aerospace and Electronic Systems, 2016, 52 (4): 1756- 1768. doi: 10.1109/TAES.2016.150148
27	PSIAKI M L, POWELL S P, O'HANLON B W. GNSS spoofing detection using high-frequency antenna motion and carrier-phase data. Proc. of the 26th International Technical Meeting of the Satellite Division of the Institute of Navigation, 2013: 2949−2991.
28	LO S, CHEN Y H, ROTHMAIER F, et al. Developing a dual polarization antenna (DPA) for high dynamic applications. Proc. of the International Technical Meeting of The Institute of Navigation, 2020: 1001−1020.
29	GENG Z L, NIE J W, XIAO Z B, et al. A GNSS spoofing detection technique based on signal spatial correlation. Proc. of the China Satellite Navigation Conference, 2017: 959−969.
30	FRIIS H T A note on a simple transmission formula. Proceedings of the IRE, 1946, 34 (5): 254- 256. doi: 10.1109/JRPROC.1946.234568

Rotation angle/(°)	CNR/dBHz	Elevation w.r.t antenna/(°)	Azimuth w.r.t antenna/(°)
0	45	57.0	256.0
10	42	47.2	259.6
20	40	37.3	261.1
30	37	27.4	262.1
40	31	17.5	262.6
50	36	7.5	263.4
60	36	−2.4	263.5
70	36	−12.4	263.9
80	37	−22.4	263.5
90	37	−32.3	262.9

Rotation angle/ (°)	△CNR (measured)/ dBHz	△CNR (only-GPS)/ dBHz	△CNR (unspoofed)/ dBHz	△CNR (spoofed)/ dBHz
0−30	−8	−4.99	−8.91	4.82
50−80	1	−6.28	−8.94	1.21

[1]	Yuqing ZHENG, Xiaofeng AI, Yong YANG, Feng ZHAO, Shunping XIAO. Detection method of forward-scatter signal based on Rényi entropy [J]. Journal of Systems Engineering and Electronics, 2024, 35(4): 865-873.
[2]	Hongcheng ZENG, Jiadong DENG, Pengbo WANG, Xinkai ZHOU, Wei YANG, Jie CHEN. A spawning particle filter for defocused moving target detection in GNSS-based passive radar [J]. Journal of Systems Engineering and Electronics, 2023, 34(5): 1085-1100.
[3]	YI PAN, Sheng ZHANG, Xiao WANG, Manhao LIU, Yiran LUO. A fine acquisition algorithm based on fast three-time FRFT for dynamic and weak GNSS signals [J]. Journal of Systems Engineering and Electronics, 2023, 34(2): 259-269.
[4]	Yue WANG, Fuping SUN, Jinming HAO, Lundong ZHANG, Xian WANG. Evaluation of global navigation satellite system spoofing efficacy [J]. Journal of Systems Engineering and Electronics, 2022, 33(6): 1238-1257.
[5]	Yangjun GAO, Guangyun LI, Zhiwei LYU, Lundong ZHANG, Zhongpan LI. Improved adaptively robust estimation algorithm for GNSS spoofer considering continuous observation error [J]. Journal of Systems Engineering and Electronics, 2022, 33(5): 1237-1248.
[6]	Qian WANG, Chuanding ZHANG, Deyong XIAN. Multi-channel signal parameters joint optimization for GNSS terminals [J]. Journal of Systems Engineering and Electronics, 2018, 29(1): 39-47.
[7]	Rongling Lang, Xinyue Li, Fei Gao, and Liang Yang. Re-scaling and adaptive stochastic resonance as a tool for weak GNSS signal acquisition [J]. Journal of Systems Engineering and Electronics, 2016, 27(2): 290-296.
[8]	Hongwei Zhao, Baowang Lian, and Juan Feng. Adaptive beamforming and phase bias compensation for GNSS receiver [J]. Journal of Systems Engineering and Electronics, 2015, 26(1): 10-.
[9]	Hong Zhou, Michail Antoniou, Zhangfan Zeng, Rui Zuo, et al.. Pre-processing for time domain image formation in SS-BSAR system [J]. Journal of Systems Engineering and Electronics, 2012, 23(6): 875-880.

GNSS spoofing detection for single antenna receivers via CNR variation monitoring

RichHTML

PDF (PC)

Knowledge

Abstract

Cite this article

Share this article

Figures/Tables 12

References 30

Related Articles 9

Recommended Articles

Metrics

Comments