Anti-spoofing Kalman filter for GPS/rotational INS integration

•An anti-spoofing Kalman filter for the integration of GPS and Rotation INS is proposed.•A GPS spoofing detector based on the inertial navigation error propagation equation is designed.•A GPS spoofing detector based on the prediction error of Kalman filter is designed.•The process for the anti-spoofing Kalman filter is designed.•The experiment results show that this method can achieve high positioning accuracy under GPS spoofing.