A Covert Spoofing Algorithm for SINS/GNSS Tightly Integrated Navigation System

In order to solve the spoofing problem of SINS/GNSS tightly integrated navigation system with inertial assist spoofing detection module, this paper proposes a covert spoofing algorithm for SINS/GNSS tightly integrated navigation system. Firstly, the influence mechanism of the GNSS spoofing signal on the innovation and state estimation parameters of the SINS/GNSS tightly integrated navigation system is analyzed, and then the GNSS spoofing signal model is established with the constraint condition of the influence of the GNSS spoofing signal on the innovation and state estimation parameters of the SINS/GNSS tightly integrated navigation system. Secondly, the mathematical model of covert spoofing is constructed by using the GNSS spoofing signal model. Finally, SINS/GNSS tightly integrated navigation system is spoofed by GNSS spoofing signal generated according to the mathematical model of covert spoofing. Note to Practitioners—The motivation of this paper is to solve the spoofing problem of SINS/GNSS tightly integrated navigation system, so as to realize the control of the illegal unmanned platform equipped with tightly integrated navigation system. The existing spoofing methods are easily detected by the spoofing detection module, and it is difficult to meet the spoofing requirements of SINS/GNSS tightly integrated navigation system equipped with inertial aided spoofing detection module. This paper proposes a covert spoofing algorithm. Firstly, the influence mechanism of GNSS spoofing signal on SINS/GNSS tightly integrated navigation system is analyzed. Then, the mathematical model of covert spoofing is established by taking the influence of GNSS spoofing signal on the innovation parameter and state estimation parameters of SINS/GNSS tightly integrated navigation system as the constraint condition. Finally, the GNSS spoofing signal generated by the covert spoofing mathematical model is used to spoof the SINS/GNSS tightly integrated navigation system. Simulation and experimental results verify the effectiveness and correctness of the proposed method. In the future research, we will further promote the experiment and application of spoofing technology in the control of various illegal unmanned platforms.