US 12,320,902 B2
Spoofing detection for vehicle-based GNSS receivers
Philipp Clausen, Thalwil (CH); and Alexander Somieski, Thalwil (CH)
Assigned to u-blox AG, Thalwil (CH)
Filed by u-blox AG, Thalwil (CH)
Filed on Mar. 25, 2022, as Appl. No. 17/704,402.
Claims priority of application No. 21165363 (EP), filed on Mar. 26, 2021.
Prior Publication US 2022/0308237 A1, Sep. 29, 2022
Int. Cl. G01S 19/21 (2010.01); G01S 19/49 (2010.01)
CPC G01S 19/215 (2013.01) [G01S 19/49 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, by a global navigation satellite system (GNSS) receiver, GNSS signals that are transmitted from GNSS satellites;
generating, by the GNSS receiver, GNSS measurement data based at least on the GNSS signals;
obtaining, by one or more processors in a vehicle, (i) sensor measurement data that is generated by one or more sensors in the vehicle, and (ii) the GNSS measurement data;
obtaining, by the one or more processors in the vehicle, an attitude estimate of the vehicle, the attitude estimate of the vehicle (i) indicating an orientation of the vehicle relative to a navigation frame of reference, and (ii) being based at least on the sensor measurement data that is generated by the one or more sensors in the vehicle;
calculating, by the one or more processors in the vehicle, a velocity estimate of the vehicle and a velocity uncertainty estimate, the velocity estimate of the vehicle and the velocity uncertainty estimate being in a navigation frame of reference that is different than a vehicle body frame of reference, and the velocity estimate of the vehicle and the velocity uncertainty estimate being based at least on the GNSS measurement data from the GNSS receiver;
projecting, by the one or more processors in the vehicle, the velocity estimate of the vehicle and the velocity uncertainty estimate from the navigation frame of reference to the vehicle body frame of reference, using the attitude estimate;
deriving, by the one or more processors in the vehicle, a detection parameter from the projected velocity estimate in the vehicle body frame of reference;
comparing, by the one or more processors in the vehicle, the detection parameter with a detection threshold; and
generating, by the one or more processors in a vehicle, an alert that indicates that GNSS spoofing has been detected based at least on comparing the detection parameter with the detection threshold.