Abstract
Highly automated transportation systems rely on a steady stream of signals and information from external sources for localization, route planning, perception, and general situational awareness. This includes reliance on positioning, navigation, and timing (PNT) information: Location is essential autonomous navigation and planning; and accurate timing is a precondition for on-board sensor fusion, cooperative control, and management based on information from other vehicles or the infrastructure. It is crucial to identify schemes for GNSS signal authentication and resilience that are well-suited for highly autonomous vehicles (HAVs). HAVs require PVT sensing techniques that are resilient to unusual natural or accidental events and secure against deliberate attack.