Computer implemented method for detecting global navigation satellite system signal spoofing, a data processing apparatus, a computer program product, and a computer-readable storage medium

1. A computer-implemented method for detecting Global Navigation Satellite System, signal spoofing, the method comprising:

a) digitizing, acquiring and tracking, at a receiver, a GNSS signal from at least one GNSS satellite, the GNSS signal comprising a predictable part and an unpredictable part, wherein the predictable part comprises predictable bits and the unpredictable part comprises unpredictable bits;

b) storing, by the receiver, a sample sequence y pred *(n) of the predictable part and a sample sequence y unpred *(n) of the unpredictable part of the GNSS signal;

c) verifying, by the receiver, a value of the unpredictable bits from which the unpredictable sample sequences are extracted;

d) computing, by the receiver, a first partial correlation B′ unpred between the unpredictable sample sequences and a locally stored GNSS signal replica x and a second partial correlation B′ pred (k) between the predictable sample sequences and the locally stored GNSS signal replica x(n) by:

B′ unpred ( k )=Σ n=1 samples y unpred *( n )* x ( n ); and

B′ pred =Σ n=1 samples y pred *( n )* x ( n ),

and removing a sign of the first partial correlation and the second partial correlation by B unpred,pred (k)=b(k)B′ unpred,pred (k) where b(k) is the value of the bit;

e) calculating, by the receiver, a predefined metric R from the first and the second partial correlation, the predefined metric R being:

R 3 =|1/ N b Σ k=1 N b ( B unpred ( k )− B pred ( k )); and

f) comparing the predefined metric with a predefined threshold value to detect GNSS signal spoofing.

2. The method according to claim 1 , wherein step b) comprises:

storing, as an unpredictable sample sequence y unpred *(n), a sample sequence y beg *(n) of a beginning part of an unpredictable bit and storing, as a predictable sample sequence y pred *(n), a sample sequence y end *(n) of a later part, such as the end part, of the unpredictable bit; or

storing, as an unpredictable sample sequence y unpred *(n), a sample sequence y beg *of the beginning part of an unpredictable bit and storing, as a predictable sample sequence y pred *(n), a sample sequence y end *(n) of a predictable bit.

3. The method according to claim 1 , wherein W u,d is a duration of a single one of the stored unpredictable sample sequences and W p,d is a duration of a single one of the stored predictable sample sequences.

4. The method according to claim 3 , wherein W u,d and/or W p,d are greater than 0.05 ms, and smaller than 1 ms.

5. The method according to claim 1 wherein step b) comprises storing sample sequences representing at least a part of at least 50 bits for the unpredictable sample and/or for the predictable sample.

6. The method according to claim 1 , wherein the predefined threshold is based on a cumulative density function of the metric R under the hypothesis that the GNSS signal is authentic.

7. The method according to claim 6 , wherein the predefined threshold is set to a value leading to a false alarm probability of 0.02.

8. The method according to claim 1 , wherein step f) comprises authenticating the GNSS signal when no signal spoofing is detected by:

authenticating the GNSS signal when its predefined metric is below the predefined threshold; and

detecting GNSS signal spoofing when its predefined metric is above the predefined threshold.

9. The method according to claim 1 , wherein step a) comprises receiving GNSS signals from at least four different GNSS satellites, the GNSS signals comprising spreading codes and satellite data, the satellite data including the unpredictable part; and wherein the method further comprises:

g) calculating, by the receiver, the GNSS signals' time of arrival from the spreading codes; and

h) calculating, by the receiver, its a position, velocity and time by demodulating the satellite data.

10. The method according to claim 9 , wherein step f comprises authenticating the GNSS signal when no signal spoofing is detected by:

authenticating the GNSS signal when its the predefined metric is below the predefined threshold; and

detecting GNSS signal spoofing when its the predefined metric is above the predefined threshold, and

wherein steps g) and h) are performed only when at least four GNSS signals from at least four different GNSS satellites have been authenticated.

11. The method according to claim 1 , wherein step b) comprises storing the sample sequence y unpred *(n) of the unpredictable part of the GNSS signal based on randomly selected unpredictable bits; or

wherein step d) comprises calculating the first partial correlation B′ unpred (k) between the unpredictable sample sequences and a locally stored GNSS signal replica x(n) based on a randomly selected subset of the unpredictable sample sequences.

12. A data processing apparatus, comprising means for carrying out the method of claim 1 .

13. A non-transitive computer program product comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method of claim 1 .

14. A non-transitive computer-readable storage medium comprising instructions which, when executed by a computer, cause the computer to carry out the method of claim 1 .