This paper aims to improve the positioning performance in complex urban environments, where the continuous high-precision positioning of precise point positioning (PPP) is limited.Based on the BeiDou navigation satellite system (BDS-3) and the global positioning system (GPS) dual-system, this paper proposes to use the PPP and inertial navigation system (INS) tight coupling algorithm to improve the positioning performance in complex urban environments.By constructing the GPS+BDS-3 dual-system PPP/INS tight coupling filtering model, the positioning, velocity, and attitude performance of four schemes: GPS PPP, GPS+BDS-3 PPP, GPS PPP/INS tight coupling, and GPS+BDS-3 PPP/INS tight coupling, are analyzed and evaluated in open and complex urban environments.The experimental results show that the PPP/INS tight coupling has a slight improvement in positioning accuracy compared with PPP in open environments; while in complex environments, the PPP/INS tight coupling can significantly solve the problem of poor continuity and validity of PPP positioning results; after introducing BDS-3, the navigation performance of PPP/INS tight coupling is further improved.Compared with GPS PPP/INS tight coupling, GPS+BDS-3 PPP/INS tight coupling improves the positioning accuracy in east-north-up directions by 18.5％, 32.7％, and 43.2％ respectively in open environment, and by 35.9％, 49.1％, and 56.5％ respectively in complex environments.
BeiDou-3 navigation satellite system (BDS-3)/precise point position (PPP)/inertial navigation system (INS)/tight coupled/speed measurement and attitude determination
维普
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