Spoofing Detection Algorithm for Tightly Coupled INS/GNSS Integration Model with robust Averaging Measurement

Global Navigation Satellite Systems (GNSS) are susceptible to external signal interference.The GNSS-INS tightly coupled model exhibits high robustness and can avoid some interference; however, it is ineffective against spoofing interference, especially slow-changing spoofing interference. This paper proposes a robust detection algorithm based on measurement averaging and the IGG-III weighting function to effectively identify and mitigate such interference. By constructing a detection statistic from the measurement-averaged innovation, we theoretically demonstrate its nature as a zero-mean white noise process and design a corresponding adaptive detection strategy. Compared with traditional spoofing interference detection methods, simulation experiments using an open-source dataset show that the proposed algorithm significantly improves the detection rate of slowly varying spoofing signals while maintaining a low false alarm rate, validating its effectiveness and robustness in tightly coupled INS/GNSS systems.