Aimed at the problem that the traditional INS-assisted pseudorange detection model is difficult to sense the position deviation lower than the inertial navigation drift error, an INS-assisted BDS pseudo-range rate-consistent deception signal detection method is proposed. The slow divergence speed information of the inertial navigation error is utilized for constructing the pseudorange rate after INS calibration, and obtaining the consistency test by the difference between the actual measured satellite pseudorange rate, and using the idea of fault detection to formulate a deception signal detection plan. The detection threshold is reached. The experimental results show that the pseudorange model compares with serious divergence over time, the proposed method is suitable for the detection of both position spoofing and speed spoofing, reducing the detection false alarm rate, and ensuring the detection sensitivity for a long time. High-precision inertial navigation system assistance can effectively improve the detection performance.