Inertial Navigation Systems (INS) are often used with GNSS, particularly in vehicle navigation. GNSS/INS integration is usually used to bridge outages in the GNSS solution, for example in urban canyons. Inertial observations, being self-contained, are not easily spoofed and can be used to authenticate GNSS observations. The ability to detect spoofing using a residuals-based RAIM algorithm in a tightly-coupled GNSS/INS integrated system has been previously proposed. Considering the recent advancements in sensor quality (mainly in MEMS grade) and the widespread adoptions of GNSS and INS in mass market applications, including automotive and pedestrian navigation, this paper analyzes the GNSS signal authentication performance limits available using different grades of IMU (tactical and MEMS) to detect errors in combination with different grades of GNSS receiver (navigation and automotive) for automotive applications.
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Manickam et al. (2016) studied this question.