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. The method also includes determine whether the GNSS signal is a spoofing signal based on a difference between the location of the reference structure and a location of the mobile device determined based on the GNSS signal.
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 non-transmitting reference structure;
determining, via one or more Radio Detection And Ranging (RADAR) sensors, one or more LIght Detection And Ranging (LIDAR) sensors, one or more cameras, or any combination thereof, a location of the mobile device with respect to the reference structure, wherein the location of the mobile device is different from the location of the reference structure; and
determining whether the GNSS signal is a spoofing signal based on a difference between the location of the mobile device with respect to the reference structure and a location of the mobile device determined based on the GNSS signal.
2. The method of claim 1 , wherein determining whether the GNSS signal is a spoofing signal includes determining whether the difference is greater than a threshold value.
3. The method of claim 1 , wherein the wireless device comprises a roadside unit (RSU).
4. The method of claim 1 , wherein the message comprises a Cellular Vehicle-to-everything (CV2X) message.
5. The method of claim 1 , further comprising, prior to or after determining whether the GNSS signal is a spoofing signal, determining whether:
a change of a GNSS time derived from the GNSS signal over a previously determined GNSS time is 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 is greater than a second threshold value;
a difference between the GNSS time and a local time of the mobile device is 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 of the mobile device other than the GNSS signal is greater than a fourth threshold value;
a signal strength of the GNSS signal is 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 is greater than a sixth threshold value;
a difference between a frequency of the GNSS signal and a frequency of the previous GNSS signal is greater than a seven threshold value; or
a combination thereof.
6. The method of claim 1 , further comprising, upon determining that the GNSS signal is a spoofing signal, determining the location of the mobile device based on sensor data of the mobile device other than the GNSS signal.
7. The method of claim 6 , wherein the sensor data of the mobile device includes sensor data of a motion sensor, a wheel sensor, an ultrasonic sensor, or a combination thereof.
8. The method of claim 1 , further comprising sending a request to the wireless device for reference location information.
9. The method of claim 8 , wherein the request is included in a CV2X Basic Safety Message (BSM).
10. 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.
11. The method of claim 1 , wherein the reference structure includes a bridge, a landmark, a building, or a roadside marker.
12. 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 non-transmitting reference structure;
determine, via one or more Radio Detection And Ranging (RADAR) sensors, one or more Light Detection And Ranging (LIDAR) sensors, one or more cameras, or any combination thereof, a location of the mobile device with respect to the reference structure, wherein the location of the mobile device is different from the location of the reference structure; and
determine whether the GNSS signal is a spoofing signal based on a difference between the location of the mobile device with respect to the reference structure and a location of the mobile device determined based on the GNSS signal.
13. The mobile device claim 12 , wherein the one or more processors are configured to determine whether the GNSS signal is a spoofing signal based on whether the difference is greater than a threshold value.
14. The mobile device claim 12 , wherein:
the wireless device includes a roadside unit (RSU); and
the message includes a Cellular Vehicle-to-everything (CV2X) message.
15. The mobile device of claim 12 , wherein the one or more processors are configured to determine, prior to or after determining whether the GNSS signal is a spoofing signal, determining whether:
a change of a GNSS time derived from the GNSS signal over a previously determined GNSS time is 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 is greater than a second threshold value;
a difference between the GNSS time and a local time of the mobile device is 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 is greater than a fourth threshold value;
a signal strength of the GNSS signal is 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 is 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
a combination thereof.
16. The mobile device of claim 12 , wherein the one or more processors are further configured to determine, upon determining that the GNSS signal is a spoofing signal, the location of the mobile device based on sensor data other than the GNSS signal.
17. The mobile device of claim 16 , wherein the sensor data includes sensor data of a motion sensor, a wheel sensor, an ultrasonic sensor, or a combination thereof.
18. The mobile device of claim 12 , 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).
19. The mobile device of claim 12 , 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.
20. The mobile device of claim 12 , wherein the reference structure includes a bridge, a landmark, a building, or a roadside marker.
21. 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 non-transmitting reference structure;
means for determining, via a means for receiving Radio Detection And Ranging (Radar) sensor measurements, means for receiving Light Detection and Ranging (LIDAR) sensor measurements, means for receiving camera data, or any combination thereof, a location of the mobile device with respect to the reference structure, wherein the location of the mobile device is different from the location of the reference structure; and
means for determining whether the GNSS signal is a spoofing signal based on a difference between the location of the mobile device with respect to the reference structure and a location of the mobile device determined based on the GNSS signal.
22. The mobile device of claim 21 , wherein:
the wireless device includes a roadside unit (RSU); and
the message includes a Cellular Vehicle-to-everything (CV2X) message.
23. The mobile device of claim 21 , 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.
24. The mobile device of claim 21 , wherein the reference structure includes an RSU, a bridge, a landmark, a building, or a roadside marker.
25. The mobile device of claim 21 , further comprising means for sending, via the PC5 interface, a request for reference location information to the wireless device, the request included in a CV2X Basic Safety Message (BSM).
26. The mobile device of claim 21 , further comprising means for determining, upon determining that the GNSS signal is a spoofing signal, the location of the mobile device based on sensor data of the mobile device other than the GNSS signal.
27. The mobile device of claim 26 , wherein the sensor data includes sensor data of a motion sensor, a wheel sensor, an ultrasonic sensor, or a combination thereof.
28. 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 non-transmitting reference structure;
determining, via one or more Radio Detection And Ranging (RADAR) sensors, one or more LIght Detection And Ranging (LIDAR) sensors, one or more cameras, or any combination thereof, a location of the mobile device with respect to the reference structure, wherein the location of the mobile device is different from the location of the reference structure; and
determining whether the GNSS signal is a spoofing signal based on a difference between the location of the mobile device with respect to the reference structure and a location of the mobile device determined based on the GNSS signal.
29. The non-transitory computer-readable medium of claim 28 , 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 28 , wherein the operations further comprises sending, via the PC5 interface, a request for reference location information to the wireless device, the request included in a CV2X Basic Safety Message (BSM).