使用三天线的联合定姿和欺骗检测方法

全球卫星导航系统（GNSS）的安全性已经引发了广泛关注。使用多天线的欺骗检测方法由于其独一无二的空间特性，已成为当前最有效的欺骗检测方法之一。提出一种使用三天线的联合定姿和欺骗检测方法，能够在确定天线载体姿态的同时检测出欺骗信号的存在。针对直接定姿法受限于基线向量精度的问题，使用长度约束的基线向量估计方法以获得高精度定姿结果。在姿态信息已知的前提下，根据星历信息、姿态变换矩阵及天线的几何关系可以获得载波相位单差的期望值。使用误差平方和（SSE）来评估载波相位单差观测值和期望值之间的偏差，并构建了欺骗信号的二元检验。结果表明：在无欺骗的情形下，所提方法能降低定姿的标准差76.1%以上；在有欺骗的情形，所提方法能够实现100%检测率，并降低定姿的标准差77.3%以上。

Joint attitude determination and spoofing detection method using three antennas

The security of the global navigation satellite system (GNSS) has aroused widespread concern. The multiple-antennas method has become the most effective spoofing detection method due to its unique spatial characteristics. A joint attitude determination and spoofing detection method using three antennas is proposed, detecting spoofing signals and determining the attitude information. The baseline accuracy limits the traditional direct attitude determination method, so a length-constrained baseline vector estimation method is adopted to obtain high-precision attitude determination results. When attitude information is known, the carrier phase single-difference expected value can be obtained by the ephemeris, attitude transformation matrix, and the antennas’ geometric relationship. The sum of the squared error (SSE) is used to evaluate the deviation between the observed and expected value of carrier phase single-difference, and the spoofing signal binary detection is constructed. The results shows that this method can reduce the standard deviation of attitude determination by more than 76.1% when there is no spoofing signal, and achieve 100%. detection efficiency with a more than 77.3% reducation on standard deviation of attitude when spoofing signal involved.