The Effect of IMU Accuracy on Dual-antenna GNSS Spoofing Detection

In this paper, a standard IMU aided dual-antenna GNSS spoofing detection procedure with constant false alarm rate is set up and illustrated. Different IMU models, from consumer-grade low cost MEMS IMUs to navigationgrade high end FOG and RLG IMUs, are established and used for attitude accuracy analysis. A theoretical analysis is carried out on how IMU accuracy (or more directly related attitude accuracy) affects the prediction of double difference observations and further the spoofing detection performance. Live signal experiments in both authentic and spoofing scenarios are carried out to test the spoofing detection performance and verify the theoretical analysis. Three grades of IMUs, including a low cost InvenSense MPU 9255, a medium cost Xsens MTI-G-700 and a high end Huayan HJG-11G, are used in the live signal tests. The corresponding spoofing detection performances of different IMU models are presented and compared. Based on these test results, an IMU product with a comparable performance with MTI-G-700 is advised to be used in the spoofing detection system to ensure a high detection probability and low false alarm rate.