System and method for GNSS spoofer detection with high integrity error bounding using multiple coasting solutions

A method for detection of global navigation satellite system (GNSS) signal spoofing, the method comprising:

• receiving, from at least one position receiver of a navigational system of a vehicle, a master position solution at least partially derived by a satellite-based positioning receiver, the master position solution comprising a set of master coordinates corresponding to a set of directions and to the vehicle position;
• receiving, from the at least one position receiver, one or more coasted position solutions, each coasted position solution comprising a set of coasted coordinates corresponding to the set of directions and to the vehicle position;
• for at least one first direction of the set of directions:
• determining a parity space formulation based on the master coordinate and the coasted coordinate corresponding to the at least one first direction, the parity space formulation comprising a parity element associated with a consistency between the master coordinate and the coasted coordinate;
• determining, based on a desired missed-detection rate, at least one protection level corresponding to the first direction,
• wherein the at least one protection level includes both a deterministic component and a statistical component, wherein the deterministic component of the protection level is defined by a slope of an estimation error over a magnitude of the parity element, wherein the statistical components includes a noisy scatter;
• determining, based on the at least one protection level, one or more of:
• a coasted integrity bound associated with the coasted position solution providing the coasted coordinate;
• or
• a master integrity bound associated with the master position solution;
• and
• comparing the parity element with a detection threshold;
• when, for any direction of the set of directions, the parity element meets or exceeds the detection threshold, indicating a detected spoofer and providing as an output position solution 1) a coasted position solution selected from the one or more coasted position solutions and 2) the coasted integrity bound associated with the selected coasted position solution;
• and
• when, for each direction of the set of directions, the parity element does not meet the detection threshold, indicating no detected spoofer and providing as the output position solution 1) the master position solution and 2) the master integrity bound.