Experimental Validation of Optimal INS Monitor against GNSS Spoofer Tracking Error Detection

In this paper, we demonstrate the performance of the proposed optimal Inertial Navigation System (INS) monitor [19] using experimental setup that includes Global Navigation Satellite System (GNSS) spoofing scenarios using state-of-the-art GNSS spoofing software Skydel and real IMU data. Skydel is a software-based simulation platform which can generate GNSS radio frequency (RF) signals that can be fed into a receiver, using a Universal Software Radio Peripheral (USRP). The experimental setup includes GNSS, and Inertial Measurement Unit (IMU), dynamic data collection unit in a ground vehicle, which is used to generate the test trajectory for Skydel. Skydel is then used to generate authentic and spoofed signals which are then collected using a GNSS receiver. Along with the previously collected IMU data, the authentic and spoofed signals are used to validate the optimal INS monitor. A spoofer's uncertainty of user position (or position tracking error) is modeled as white Gaussian noise and added to the replica of authentic signal to form the spoofed signal. We show that the monitor is able to detect spoofer's tracking error even at decimeter level magnitudes. As a result, the conducted experiments demonstrate the monitor ability in detecting realistic GNSS spoofing events even with minimal tracking errors.