GNSS Spoofer Localization with Counterfeit Clock Bias Observables in a Dynamic Scenario

Global Navigation Satellite Systems (GNSSs) are widely used in daily life, and the popularity of GNSS-based applications has triggered concerns about the potential vulnerabilities of GNSS. One of the major threats is the spoofing signal, and localizing the spoofer enables the threat to be mitigated at its source. Most spoofer localization methods rely on a spatially distributed sensor network with accurate time synchronization requirements. Recent research has used a least-squares (LS) estimator to localize a static spoofer using clock bias or clock drift from a single antenna. In this paper, we propose and test an extension to a method recently published in the IEEE Sensors Journal that used an LS estimator to localize a spoofer using clock bias as an observation. Specifically, we propose to extend this work with an extended Kalman filter-based algorithm to locate a dynamic spoofer using clock-bias measurements obtained from a single antenna as observations. Therefore, dynamic spoofer tracking can be realized without deploying multiple spatially distributed receivers. We demonstrate the efficiency of the proposed method by comparing it with the static spoofer localization method using a properly designed simulation. The results show that the proposed method achieves better spoofer localization accuracy than the original LS method for static spoofer localization and can be applied to track a dynamic spoofer.