GNSS spoofing detection and recovery
A method includes, by a mobile device, receiving a Global Navigation Satellite System (GNSS) signal, and receiving, from a wireless device, via a PC5 interface, a message including a location of a reference structure, a calculated location of the mobile device, or a combination thereof. The method also includes determine whether the GNSS signal is a spoofing signal based on: a spoof indication of the GNSS signal, and whether a difference between a location of the mobile device determined based on the GNSS signal and one of the location of the reference structure, the calculated location of the mobile device, or a location of the mobile device determined based on the location of the reference structure is greater than a threshold value.
1. A method comprising, by a mobile device:
receiving a Global Navigation Satellite System (GNSS) signal;
receiving, from a wireless device, via a PC5 interface, a message including a location of a reference structure, a calculated location of the mobile device, or a combination thereof; and
determining that the GNSS signal is a spoofing signal based on a spoof indication of the GNSS signal; and
in response to determining that the GNSS signal is a spoofing signal based on the spoof indication of the GNSS signal, verifying whether the GNSS signal is a spoofing signal by determining whether a difference between a location of the mobile device determined based on the GNSS signal and one of the location of the reference structure, the calculated location of the mobile device, or a location of the mobile device determined based on the location of the reference structure is greater than a threshold value.
2. The method of claim 1 , wherein the wireless device comprises a roadside unit (RSU).
3. The method of claim 1 , wherein the message comprises a Cellular Vehicle-to-everything (CV2X) message.
4. The method of claim 1 , wherein the spoof indication of the GNSS signal comprises:
a change of a GNSS time derived from the GNSS signal over a previously determined GNSS time greater than a first threshold value;
a difference between the GNSS time and a local time of the mobile device greater than a second threshold value;
a difference between a signal strength of the GNSS signal and a signal strength of a previous GNSS signal that is associated with a same satellite as the GNSS signal greater than a third threshold value;
a difference between a frequency of the GNSS signal and a frequency of the previous GNSS signal greater than a fourth threshold value; or
any combination thereof.
5. The method of claim 1 , wherein:
the spoof indication of the GNSS signal comprises a difference between the location of the mobile device determined based on the GNSS signal and a location of the mobile device determined based on sensor data of the mobile device other than the GNSS signal greater than a threshold value; and
the sensor data of the mobile device includes sensor data of a Radio Detection And Ranging (RADAR) sensor, a camera, a LIght Detection And Ranging (LIDAR) sensor, a motion sensor, a wheel sensor, an ultrasonic sensor, or a combination thereof.
6. The method of claim 5 , further comprising, upon determining that the GNSS signal is a spoofing signal, determining the location of the mobile device based on the sensor data of the mobile device other than the GNSS signal.
7. The method of claim 1 , further comprising sending a request to the wireless device for reference location information.
8. The method of claim 7 , wherein the request is included in a CV2X Basic Safety Message (BSM) that includes location information of the mobile device.
9. The method of claim 8 , wherein the calculated location of the mobile device is determined by the wireless device based on the location information of the mobile device included in the CV2X BSM, a signal strength of the CV2X BSM, an output of a sensor associated with the wireless device, or a combination thereof.
10. The method of claim 1 , further comprising receiving, from the wireless device, a confidence level of the calculated location of the mobile device or a confidence level of the location of the mobile device determined by the mobile device based on the GNSS signal and sent to the wireless device.
11. The method of claim 1 , further comprising receiving, from the wireless device, an indication that a difference between the location of the mobile device determined by the mobile device based on the GNSS signal and sent to the wireless device and the calculated location of the mobile device is greater than the threshold value.
12. The method of claim 1 , wherein the message includes a CV2X road safety message (RSM), a CV2X Traveler Information Message (TIM), or a CV2X Signal Phase and Time (SPAT) message.
13. The method of claim 1 , wherein the reference structure includes a bridge, a landmark, a building, or a roadside marker.
14. A mobile device comprising:
a transceiver including a PC5 interface;
a Global Navigation Satellite System (GNSS) receiver;
a memory; and
one or more processors communicatively coupled with the transceiver, the GNSS receiver, and the memory and configured to:
receive, via the GNSS receiver, a GNSS signal;
receive, via the PC5 interface, from a wireless device, a message including a location of a reference structure, a calculated location of the mobile device, or a combination thereof; and
determine whether the GNSS signal is a spoofing signal based on a spoof indication of the GNSS signal; and
perform:
in response to determining that the GNSS signal is not a spoofing signal based on the spoof indication of the GNSS signal, determining a location of the mobile device based on the GNSS signal; or
in response to determining that the GNSS signal is a spoofing signal based on the spoof indication of the GNSS signal, verifying whether the GNSS signal is a spoofing signal by determining whether a difference between the location of the mobile device determined based on the GNSS signal and one of the location of the reference structure, the calculated location of the mobile device, or a location of the mobile device determined based on the location of the reference structure is greater than a threshold value.
15. The mobile device claim 14 , wherein the wireless device includes a roadside unit (RSU).
16. The mobile device claim 14 , wherein the message includes a Cellular Vehicle-to-everything (CV2X) message.
17. The mobile device of claim 14 , wherein the spoof indication comprises:
a change of a GNSS time derived from the GNSS signal over a previously determined GNSS time greater than a first threshold value;
a difference between the GNSS time and a local time of the mobile device greater than a second threshold value;
a difference between a signal strength of the GNSS signal and a signal strength of a previous GNSS signal that is associated with a same satellite as the GNSS signal greater than a third threshold value;
a difference between a frequency of the GNSS signal and a frequency of the previous GNSS signal greater than a fourth threshold value; or
any combination thereof.
18. The mobile device of claim 14 , wherein:
the spoof indication of the GNSS signal comprises a difference between the location of the mobile device determined based on the GNSS signal and a location of the mobile device determined based on sensor data other than the GNSS signal greater than a threshold value; and
the sensor data includes sensor data of a Radio Detection And Ranging (RADAR) sensor, a camera, a LIght Detection And Ranging (LIDAR) sensor, a motion sensor, a wheel sensor, an ultrasonic sensor, or a combination thereof.
19. The mobile device of claim 18 , wherein the one or more processors are further configured to determine the location of the mobile device based on the sensor data other than the GNSS signal.
20. The mobile device of claim 14 , wherein the one or more processors are further configured to send, via the PC5 interface, a request to the wireless device for reference location information, the request included in a CV2X Basic Safety Message (BSM) that includes location information of the mobile device.
21. The mobile device of claim 20 , wherein the calculated location of the mobile device is determined by the wireless device based on the location information of the mobile device included in the CV2X BSM, a signal strength of the CV2X BSM, an output of a sensor associated with the wireless device, or a combination thereof.
22. The mobile device of claim 14 , wherein the message includes a CV2X road safety message (RSM), a CV2X Traveler Information Message (TIM), or a CV2X Signal Phase and Time (SPAT) message.
23. A mobile device comprising:
means for receiving a Global Navigation Satellite System (GNSS) signal;
means for receiving, from a wireless device, via a PC5 interface, a message including a location of a reference structure, a calculated location of the mobile device, or a combination thereof; and
means for determining whether the GNSS signal is a spoofing signal based on a spoof indication of the GNSS signal; and
means for, in response to determining that the GNSS signal is a spoofing signal based on the spoof indication of the GNSS signal, verifying whether the GNSS signal is a spoofing signal by determining whether a difference between a location of the mobile device determined based on the GNSS signal and one of the location of the reference structure, the calculated location of the mobile device, or a location of the mobile device determined based on the location of the reference structure is greater than a threshold value.
24. The mobile device of claim 23 , wherein the spoof indication comprises:
a change of a GNSS time derived from the GNSS signal over a previously determined GNSS time greater than a first threshold value;
a change of the location of the mobile device determined based on the GNSS signal over a previously determined location of the mobile device greater than a second threshold value;
a difference between the GNSS time and a local time of the mobile device greater than a third threshold value;
a difference between the location of the mobile device determined based on the GNSS signal and a location of the mobile device determined based on sensor data other than the GNSS signal greater than a fourth threshold value;
a signal strength of the GNSS signal greater than a fifth threshold value;
a difference between the signal strength of the GNSS signal and a signal strength of a previous GNSS signal that is associated with a same satellite as the GNSS signal greater than a sixth threshold value;
a difference between a frequency of the GNSS signal and a frequency of the previous GNSS signal greater than a seven threshold value; or
any combination thereof.
25. The mobile device of claim 23 , wherein:
the wireless device includes a roadside unit (RSU); and
the message includes a Cellular Vehicle-to-everything (CV2X) message.
26. The mobile device of claim 23 , wherein the message includes a CV2X road safety message (RSM), a CV2X Traveler Information Message (TIM), or a CV2X Signal Phase and Time (SPAT) message.
27. A non-transitory computer-readable medium having instructions embedded thereon which, when executed by one or more processing units, cause the one or more processing units to perform operations including:
receiving, via a Global Navigation Satellite System (GNSS) receiver of a mobile device, a GNSS signal;
receiving, from a wireless device, via a PC5 transceiver, a message including a location of a reference structure, a calculated location of the mobile device, or a combination thereof; and
determining whether the GNSS signal is a spoofing signal based on a spoof indication of the GNSS signal; and
in response to determining that the GNSS signal is a spoofing signal based on the spoof indication of the GNSS signal, verifying whether the GNSS signal is a spoofing signal by determining whether a difference between a location of the mobile device determined based on the GNSS signal and one of the location of the reference structure, the calculated location of the mobile device, or a location of the mobile device determined based on the location of the reference structure is greater than a threshold value.
28. The non-transitory computer-readable medium of claim 27 , wherein the spoof indication comprises:
a change of a GNSS time derived from the GNSS signal over a previously determined GNSS time greater than a first threshold value;
a change of the location of the mobile device determined based on the GNSS signal over a previously determined location of the mobile device greater than a second threshold value;
a difference between the GNSS time and a local time of the mobile device greater than a third threshold value;
a difference between the location of the mobile device determined based on the GNSS signal and a location of the mobile device determined based on sensor data other than the GNSS signal greater than a fourth threshold value;
a signal strength of the GNSS signal greater than a fifth threshold value;
a difference between the signal strength of the GNSS signal and a signal strength of a previous GNSS signal that is associated with a same satellite as the GNSS signal greater than a sixth threshold value;
a difference between a frequency of the GNSS signal and a frequency of the previous GNSS signal greater than a seven threshold value; or
any combination thereof.
29. The non-transitory computer-readable medium of claim 27 , wherein:
the wireless device includes a roadside unit (RSU); and
the message includes a Cellular Vehicle-to-everything (CV2X) message.
30. The non-transitory computer-readable medium of claim 27 , wherein the message includes a CV2X road safety message (RSM), a CV2X Traveler Information Message (TIM), or a CV2X Signal Phase and Time (SPAT) message.