Table 1 Summary of model parameters
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 |