Aiming at the problems that the traditional global navigation satellite system/inertial navigation system(GNSS/INS)innovation average robust spoofing detection algorithm has long detection delay for step spoofing and is insensitive to slow-growing slope spoofing,a GNSS/INS spoofing detection method based on combined epoch innovation robustness is proposed.The detection method combines the single epoch innovation and multi-epoch innovation average detection method to improve the detection efficiency,constructs multi-epoch equivalent weight factors to weaken the influence of deception,and detects spoofing types for classification processing.The experimental results show that the proposed method is more sensitive than the single-epoch innovation detection method and the innovation average detection method,and can detect the 10 m step spoofing that cannot be detected by the single-epoch innovation and the 0.03 m/s slope spoofing that cannot be detected by the innovation average detection method.The multi-epoch equivalent weight factor can weaken the influence of error tracking effect on the innovation before the slope deception is detected.In the multi-channel spoofing scenario,the proposed method shortens the detection delay by 21.3%,and the maximum position error and root mean square error with the real trajectory are reduced by 86.6%and 96.8%respectively by classifying spoofing.
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维普
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