Abstract We are concerned with problems of poor positioning accuracy, reliability and integrity in a single navigation and positioning method in an urban environment; we propose a PPP/INS/ODO integrated navigation scheme without ionospheric combination of GPS+BDS-3. Using the GPS+BDS-3 dual system, we derive the non-ionization combined function model. We give the combined model of PPP/INS/ODO and analyze the processing strategy of time asynchronous and lever arm. Combining odometer information and non-integrity constraint information further improves the positioning performance of the combined system. Using static and dynamic experimental data, we analyze the positioning performance of the GPS+BDS-3 non-ionization combined PPP and the positioning performance of the PPP/INS/ODO combined system, respectively. Experimental results show that the GPS and BDS-3 combination has significantly improved positioning accuracy compared to a single system; the PPP/INS/ODO combination system has a position RMSE better than 1 m in a complex environment, which can provide technical support for car navigation in a complex environment.
ZHANG Hui,YU Rong,ZHAO Jian et al. Analysis of PPP/INS/ODO Integrated Navigation Based on GPS+BDS-3 in Complicated Environment[J]. jgg, 2022, 42(3): 275-280.
ZHANG Hui,YU Rong,ZHAO Jian et al. Analysis of PPP/INS/ODO Integrated Navigation Based on GPS+BDS-3 in Complicated Environment[J]. jgg, 2022, 42(3): 275-280.