[1] vstedal O.Absolute positioning with single-frequency GPS receivers［J］.GPS Solutions,2002,5(4):33-44.
[3] ZHANG Y T,WANG L,WANG W Y,et al.Spoofing jamming suppression techniques for GPS based on DOA estimating［C］//The 5th China Satellite Navigation Conference.Berlin:Springer,2014:683-693.
[4] MIRALLES D,BORNOT A,ROUQUETTE P,et al.An assessment of GPS spoofing detection via radio power and signal quality monitoring for aviation safety operations［J］.IEEE Intelligent Transportation Systems Magazine,2020,12(3):136-146.
[6] XUE N,NIU L,HONG X B,et al.DeepSIM:GPS spoofing detection on UAVs using satellite imagery matching［C］//Annual Computer Security Applications Conference.New York,NY:Association for Computing Machinery,2020:304-319.
[7] SIAMAK S,DEHGHANI M,MOHAMMADI M.Dynamic GPS spoofing attack detection,localization,and measurement correction exploiting PMU and SCADA［J］.IEEE Systems Journal,2021,15(2):2531-2540.
[8] HSU L-T,TOKURA H,KUBO N,et al.Multiple faulty GNSS measurement exclusion based on consistency check in urban canyons［J］.IEEE Sensors Journal,2017,17(6):1909-1917.
[9] BANG E,MILNER C,MACABIAU C,et al.Preliminary integrity assessment for GPS/GLONASS RAIM with multiple faults［C］//IEEE/ION Position,Location and Navigation Symposium (PLANS).Monterey,CA:IEEE,2018:327-335.
[10] LEE J-H,KWON K-C,AN D-S,et al.GPS spoofing detection using accelerometers and performance analysis with probability of detection［J］.International Journal of Control,Automation and Systems,2015,13(4):951-959.
[11] BROUMANDAN A,LACHAPELLE G.Spoofing detection using GNSS/INS/odometer coupling for vehicular navigation［J］.Sensors,2018,18(5):1305.
[13] SORKINE-HORNUNG O,RABINOVICH M.Least-squares rigid motion using SVD［J］.Computing,2017,1(1):1-5.
[14] FENG S J,OCHIENG W Y,WALSH D,et al.A measurement domain receiver autonomous integrity monitoring algorithm［J］.GPS Solutions,2006,10(2):85-96.
[15] CAMPOS C,ELVIRA R,RODRGUEZ J J G,et al.ORB-SLAM3:an accurate open-source library for visual,visual-inertial,and multimap SLAM［J］.IEEE Transactions on Robotics,2021,37(6):1874-1890.
