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This paper develops, implements, and validates a powerful single-antennacarrier-phase-based test to detect Global Navigation Satellite Systems (GNSS)spoofing attacks on ground vehicles equipped with a low-cost inertialmeasurement unit (IMU). Increasingly-automated ground vehicles require precisepositioning that is resilient to unusual natural or accidental events andsecure against deliberate attack. This paper's spoofing detection techniquecapitalizes on the carrier-phase fixed-ambiguity residual cost produced by awell-calibrated carrier-phase-differential GNSS (CDGNSS) estimator that istightly coupled with a low-cost IMU. The carrier-phase fixed-ambiguity residualcost is sensitive at the sub-centimeter-level to discrepancies between measuredcarrier phase values and the values predicted by prior measurements and by thedynamics model, which is based on IMU measurements and on vehicle constraints.Such discrepancies will arise in a spoofing attack due to the attacker'spractical inability to predict the centimeter-amplitude vehicle movement causedby roadway irregularities. The effectiveness of the developed spoofingdetection method is evaluated with data captured by a vehicle-mounted sensorsuite in Austin, Texas. The dataset includes both consumer- andindustrial-grade IMU data and a diverse set of multipath environments (opensky, shallow urban, and deep urban). Artificial worst-case spoofing attacksinjected into the dataset are detected within two seconds.

Carrier-phase and IMU based GNSS Spoofing Detection for Ground Vehicles