Visual/Inertial/GNSS Integrated Navigation System under GNSS Spoofing Attack

Visual/Inertial/GNSS (VIG) integrated navigation and positioning systems are widely used in unmanned vehicles other systems. This VIG system is vulnerable to of GNSS spoofing attacks. Relevant research on the harm that causes performance analyses under not sufficient. In this paper, an open-source algorithm, VINS-Fusion, based nonlinear optimization, analyze a attack. The influence visual inertial odometer (VIO) scale estimation error transformation matrix deviation transition period detection analyzed. Deviation correction methods GNSS-assisted compensation coefficient method optimal pose selection proposed for VIG-integrated areas. For area can revisit many times, global map-matching proposed. An outfield experiment with attack carried out paper. result shows that, even if measurements seriously affected by spoofing, still run independently, following preset waypoint. method, depress circumstances