We exploit the short-term stability of inertial sensors to identify the spoofing signal and extend the successive interference cancellation algorithm to preserve the legitimate signal's ToA. SemperFi is capable of distinguishing spoofing signals and recovering legitimate GPS signals that are even completely overshadowed by a strong adversary. The main challenge in building SemperFi is, unlike most wireless systems where \emph contained in the wireless signals is important, GPS relies on the time of arrival (ToA) of satellite signals. In this work, we present SemperFi, a single antenna GPS receiver capable of tracking legitimate GPS satellite signals and estimating the true location even during a spoofing attack. Although several spoofing detection techniques exist, they are incapable of mitigation and recovery from stealthy attackers. It is well-known that GPS is vulnerable to signal spoofing attacks.
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