Patent attributes
A method of detecting and mitigating Global Navigation Satellite System (GNSS) spoofing events may comprise determining a first vehicle state based on an Inertial Navigation System (INS) without GNSS input, determining a second vehicle state based on an INS with GNSS input, and comparing the first vehicle states. When a difference between the vehicle states exceeds a predetermined threshold, the method concludes that GNSS spoofing is present, and utilizes only the first vehicle state as a correct vehicle state. The method may further implement at least one state processing path, comprising consecutive processing runs based on INS sensors. The method may further comprise reevaluating the vehicle state processing path, when the difference between the first vehicle state and the second vehicle state exceeds a threshold, to extricate a GNSS component from the processing path to at least a predetermined amount of time prior to when the GNSS spoofing was detected.
