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Spoofing attacks in global navigation satellite systems (GNSSs) aim at inducing the estimation of a fake position at the victim receiver. Many devices, including smartphones, are nowadays equipped with both a GNSS receiver and an inertial measurement unit (IMU), which also provides location/movement information, while being immune from GNSS attacks. We propose a spoofing detection technique based on the comparison between GNSS and IMU measurements. The detection is performed through a generalized likelihood ratio test (GLRT), which is efficiently implemented by a matrix multiplication approach. In particular, the device a) estimates its orientation from magnetometer and gyroscope measurements, b) estimates its position, acceleration, and velocity by a maximum likelihood approach, and c) performs the GLRT for spoofing detection. The performance of the proposed GLRT is compared with the …