Fig. 7
From: Statistical test for GNSS spoofing attack detection by using multiple receivers on a rigid body
Probability of detection versus probability of false alarm for N=I=3 and \(\mathbf {b}_{0}^{sp} = {10^{3}} \times \left [ {0.5,0.5} \right ]\) when the spoofer locations deviate by \(\frac {{2\mathbf {p}_{i}^{A}}}{{\left \| {\mathbf {p}_{i}^{A}} \right \|}}\)