| Summary: | 碩士 === 國立臺灣海洋大學 === 通訊與導航工程學系 === 104 === The global navigation satellite system (GNSS) has been widely used by militaries as well as civilians. The use of GPS in mission-critical applications demands not only precise navigation solutions but solutions which can be used with absolute confidence. Spoofing is a deliberate interference that aims to coerce global navigation satellite system receivers into generating false position/navigation solutions. The GPS system is generally lack of immunity against spoofing attack. As such, spoofing and anti-spoofing algorithms have become an important research topic within the GPS discipline. Currently, Spoofing mitigation technique of anti-spoofing is mainly on positioning solution. This thesis to solve the problems of spoofing signal of robust estimation, using MEKF and MUKF, which are EKF (Extended Kalman Filter) and UKF (Unscented Kalman Filter) combined with M-estimation. And joining the detection mechanism, so that using optimal estimate when did not suffer spoofing signal; on the other hand, if suffer spoofing signal starting M-estimator and using robust estimate to solve position/navigation solutions. MEKF and MUKF can not only solve the nonlinear problems but also against spoofing signal, which have greatly improved the robust of estimation, and positional accuracy.
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