March 2023: A paper written by Zach Clements titled “Carrier-phase and IMU based GNSS Spoofing Detection for Ground Vehicles” got published in GPS World. The summary from GPS World is “we look at how carrier-phase measurements combined with those from an inertial measurement unit can guard against a deliberate attack on an automated ground vehicle — something that cannot be discounted in our world these days.” The publication can be found here.