The fusion positioning system composed of global navigation satellite system (GNSS) and multiple sensors has been widely used in fields such as autonomous driving and unmanned detection due to its accuracy and robustness. However,GNSS is vulnerable to spoofing,leading to incorrect positioning information output and further resulting in serious consequences. Given that sensors can provide carrier state information which is independent from GNSS spoofing,fusion positioning systems can achieve spoofing detection through information verification of GNSS and multi-sensor. This paper provided an overview of such GNSS spoofing detection technologies. Firstly,the sensor composition and information fusion algorithms for GNSS/multi-sensor fusion positioning were outlined. Secondly,the existing spoofing detection technologies for GNSS/multi-sensor fusion positioning were divided into two categories:independent information consistency monitoring and information fusion abnormality detection. The basic principles,implementation methods,and performance effects of different methods were summarized and analyzed. Finally,the future development trends of spoofing detection technologies were discussed.
global navigation satellite system (GNSS)/multi-sensor fusion positioningspoofing detectionindependent information consistencyinformation fusion abnormality
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