From: Statistical test for GNSS spoofing attack detection by using multiple receivers on a rigid body
Parameter | Description |
---|---|
M | Number of captured range measurements of a satellite or spoofer signal by a GNSS receiver |
N | Number of GNSS receivers |
I | Number of satellites |
\(\mathbf {p}_{n_{0}}\) | Position of the nth GNSS receiver, relative to the platform |
si | Position of the ith satellite |
b0 | Translation vector of the platform |
T | Rotation matrix of the platform |
\(\mathbf {p}^{A}_{i}\) | Position of the ith spoofer |
τi | Artificial time delay induced by the ith spoofer |
rn,i,m | mth sample from the ith satellite or spoofer signal measured by the nth GNSS receiver |
nn,i,m | Noise component of rn,i,m |
σ2 | Noise power |