A trust framework for evaluating GNSS signal integrity

Through real-life experiments, it has been proved, not only in theory but also in practice, that civil signals of Global Navigation Satellite Systems (GNSS) can be spoofed. Consequently, a number of spoofing detection techniques have been proposed to verify the integrity of GNSS signals. In this paper, we develop a novel trust framework based on subjective logic to evaluate the integrity of received GNSS civil signals. We formally define signal integrity for the first time in the framework and use it to precisely characterise different spoofing detection methods. Our framework captures the uncertainty during the inference of signal integrity which has been largely ignored or not explicitly specified in the literature. Our framework also gives rise to several natural ways to combine the outputs of various spoofing detection methods on signal integrity. We validate our framework through experiments using both real and simulated signals and the results show that our framework is effective.