Global navigation satellite system spoofing‐detection technique based on the Doppler ripple caused by vertical reciprocating motion

The menace of spoofing is overshadowing the civilian use of the global satellite navigation system. Many anti‐spoofing approaches have been intensively researched in the literature, among which the spoofing‐detection ones are the most thoroughly investigated. In this study, the authors propose a novel spoofing‐detection method, which jointly utilises the carrier Doppler frequency caused by the vertical reciprocating motion of the receiving antenna and the navigational information conveyed by the received signals. This specific motion pattern would make the Doppler measurement of each signal fluctuate like water ripples, of which the amplitude should be proportional to the sine of the corresponding satellite's elevation. Singular value decomposition is deployed to simultaneously estimate the speed variation of the receiving antenna and the relative amplitudes of the Doppler fluctuations. Then, the proportionality between relative amplitudes and the elevation sines is checked to detect the spoofing signal, which would probably break the proportionality. The proposed method is experimentally verified and validated. They also analyse the detection performance both theoretically and numerically. Moreover, several motion deviations are assessed both theoretically and practically.