[3] [3] HUMPHREYST E, LEDVINA B M, PSIAKI M L. Assessing the spoofing threat: development of a portable GPS civilian spoofer[C]// Proceedings of International Technical Meeting of the Satellite Division of the Institute of Navigation. Savannah, GA:Aerospace Engineering, 2008:2314-2325. doi:10. 1117/ 12.820334.

[4] [4] JAFARNIA-JAHROMI A, LIN T, BROUMANDAN A. Detection and mitigation of spoofing attacks on a vector-based tracking GPS receiver[J]. Journal of Global Positioning Systems, 2008(7): 156-168. doi:10.5081/jgps.7.2. 156.

[5] [5] TIPPENHAUER N O,P?PPER C,RASMUSSEN K B. On the requirements for successful GPS spoofing attacks[C]// Proceedings of ACM conference on computer and communications security. Chicago, Illinois, USA: Association for Computing Machinery, 2011:75-86. doi:10. 1145/2046707.2046719.

[6] [6] TAO Huiqi,WU Hailing,LI Hong,et al. GNSS spoofing detection based on consistency check of velocities[J]. Chinese Journal of Electronics, 2019,28(2):437-444.

[7] [7] ZHANG Xinran, LI Hong, YANG Chun, et al. Signal quality monitoring-based spoofing detection method for Global Navigation Satellite System vector tracking structure [J]. IET Radar, Sonar & Navigation, 2020, 14(6): 944-953. doi: 10. 1049/iet-rsn. 2020.0021.

[8] [8] WANG Qian, CUI Xiaowei, LIU Jing, et al. Quantitative analysis of the performance of vector tracking algorithms[J]. High Technology Letters, 2017,23(3):238-244. doi:10.3772/j.issn. 1006-6748.2017.03.002.

[9] [9] LASHLEY M, BEVLY D M, HUNG J Y. Performance analysis of vector tracking algorithms for weak GPS signals in high dynamics[J]. IEEE Journal of Selected Topics in Signal Processing, 2009,3(4):661-673. doi:10. 1109/JSTSP.2009.2023341.

[10] [10] LI Kui, ZHAO Jiaxing, WANG Xueyun, et al. Federated ultra-tightly coupled GPS/INS integrated navigation system based on vector tracking for severe jamming environment[J]. IET Radar, Sonar & Navigation, 2016, 10(6): 1030-1037. doi: 10. 1049/iet- rsn.2015.0258.

[14] [14] DIETMAYER K,KUNZI F,GARZIA F,et al. Real time results of vector delay lock loop in a light urban scenario[C]// 2020 IEEE/ ION Position, Location and Navigation Symposium(PLANS). Portland, OR, USA: IEEE, 2020: 1230-1236. doi: 10. 1109/ PLANS46316.2020.9109832.

[15] [15] CUNTZ M, KONOVALTSEV A, MEURER M. Concepts,development,and validation of multiantenna GNSS receivers for resilient navigation[J]. Proceedings of the IEEE, 2016, 104(6): 1288-1301. doi:10. 1109/JPROC.2016.2525764.

[16] [16] KAPLAN E,HEGARTY C. Understanding GPS:principles and applications[M]. Massachusetts:Artech House, 2005.