No GPS, No Problem: Exploiting Signals of Opportunity for Resilient and Accurate Autonomous Navigation in GPS-Denied Environments (2025)

Autonomous vehicles rely on a steady stream of signals and information from external sources for localization, route planning, perception, and situational awareness. This includes reliance on positioning, navigation, and timing (PNT) information from global navigation satellite systems (GNSS). Current autonomous vehicles are too trusting of such PNT information and too fragile in the face of loss or attenuation of communications links. There is a global trend of increasing radio frequency interference, whether accidental or deliberate. Civil GNSS signals jamming and spoofing have evolved from a hypothetical threat to an experimentally-verified vulnerability, to an emerging public safety hazard.