Improving INS/GPS Loosely fusion, during Spoofing, using steady-state Kalman matrix gain

This paper presents a solution for detecting and recovery for the spoof error of GPS receiver signals, in order to increase the accuracy of the navigation system integrating inertial systems with GPS signals. integrated inertial navigation and GPS data has many advantages. However, due to the weakness of satellite signals against jamming and spoof attacks of providing analytical solutions, they have a special place in improving Kalman filter estimation compared to hardware solutions. In this paper, a new method for loosely coupled of INS/GPS is presented, in which the steady state of Kalman gain parameters is used during deception detection and recovery. With the gain parameters of the Kalman filter tending to constant values, with the aim of correcting and predicting the error of state variables, it can be used to detection GPS spoofed data. It can be detected by spoof in the GPS receiver signal when couple with inertial waves through the amount of Kalman gain fluctuations. In the case of closed loop, the Kalman gain matrix denominators tend to a constant value, and in case of deception, this function is associated with many fluctuations. By using dynamic weighting, the effect of errors caused by these attacks is recovered.