PPP-B2b/INS Integrated Navigation Technology Based on BDS-3

To address frequent signal obstructions and interruptions in urban vehicular dynamic environments, a GNSS/INS integrated navigation method based on PPP-B2b is proposed in the paper. Though theoretical analysis and model construction, two integration navigation system are constructed: the PPP-B2b/INS loose coupled and the PPP-B2b/INS tight coupled. The system performance is empirically verified through dynamic vehicular experiments across multiple scenarios. The research results demonstrated that, compared to PPP-B2b, PPP-B2b/INS exhibited improvements in both velocity and positioning accuracy.