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Wang et al. Satell Navig             (2021) 2:4                                        Page 7 of 9



























              Fig. 8  ROC performance (  C N  = 35 dB·Hz)      Fig. 10  Binary phase hopping modulation constellation (  σ i = 5°)
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              Fig. 9  ROC performance (  C N  = 40 dB·Hz)

                                 0                             Fig. 11  Binary phase-hopping modulation constellation (  θ e = 5°)
            hopping based SCA technique has lower C N  degrada-

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            tion and better compatibility with the existing receiver   two SCA techniques. Under the same false alarm prob-
            architecture.                                     ability, the authentication success rates of the two SCA
                                                              techniques are almost 100%. When C N  is reduced to

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                                                              35  dB·Hz, the coherent integration time of 600  ms is
            Simulation of detection probability               not enough. Under the same false alarm probability, the
            Tis section simulates the Receiver Operating Charac-  authentication success rate of the phase hopping based
            teristic (ROC) performance for the two SCA techniques,   SCA technique improves obviously. One reason is that
            and the binary phase hopping based SCA technique uses   in the same coherent integration time, the authentication
            the third authentication method. In the following fgures   code length of the phase hopping based SCA technique
            the abscissa represents the false alarm probability P fa  and   is  R c · T coh  , and the authentication code length of the
            the ordinate is for the detection probability P d  . Te simu-  inserting chip based SCA technique is R c · p u · T coh  . For
            lated ROC performances are plotted in Figs. 8 and 9 with   a GNSS signal, the longer the spreading code sequence is,
            the coherent integration time T coh = 600 ms , code rate   the higher the spreading gain will be, meaning stronger
            R c = 1.023 Mcps , phase jump amplitude  ϕ PH = 5  ,  and
                                                      ◦
            C N  being 35 dB·Hz and 40 dB·Hz, respectively.   anti-multiple access interference ability.

                                                                Considering the errors in PLL, such as phase jitter and
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              When C N  is 40 dB·Hz, the coherent integration time

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            of 600 ms is long enough. Tere is no signifcant difer-  dynamic stress error, Fig. 10 shows the constellation dia-
                                                              gram of demodulation with the root-mean-square error
            ence between the authentication success rates of the
                                                              (RMSE) of phase jitter σ i being 5°. Te phases of actual
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