{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,14]],"date-time":"2026-05-14T01:12:35Z","timestamp":1778721155833,"version":"3.51.4"},"reference-count":38,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2023,2,28]],"date-time":"2023-02-28T00:00:00Z","timestamp":1677542400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Nature Science Foundation of China","award":["42104033"],"award-info":[{"award-number":["42104033"]}]},{"name":"National Nature Science Foundation of China","award":["41774037"],"award-info":[{"award-number":["41774037"]}]},{"name":"National Nature Science Foundation of China","award":["2022M712442"],"award-info":[{"award-number":["2022M712442"]}]},{"name":"Postdoctoral Science Foundation of China","award":["42104033"],"award-info":[{"award-number":["42104033"]}]},{"name":"Postdoctoral Science Foundation of China","award":["41774037"],"award-info":[{"award-number":["41774037"]}]},{"name":"Postdoctoral Science Foundation of China","award":["2022M712442"],"award-info":[{"award-number":["2022M712442"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>To provide continuous and reliable real\u2212time precise positioning services in challenging environments and poor internet conditions, the real\u2212time precise corrections of the BeiDou global navigation satellite system (BDS\u22123) PPP\u2212B2b signal are utilized to correct the satellite orbit errors and clock offsets. In addition to this, using the complementary characteristics of the inertial navigation system (INS) and the global navigation satellite system (GNSS), a PPP\u2212B2b\/INS tight integration model is established. With observation data collected in an urban environment, the results show that PPP\u2212B2b\/INS tight integration can ensure a decimeter\u2212level positioning accuracy; the positioning accuracies of the E, N, and U components are 0.292, 0.115, and 0.155 m, respectively, which can provide a continuous and secure position during short interruptions in the GNSS. However, there is still a gap of about 1 dm compared with the three\u2212dimensional (3D) positioning accuracy obtained from Deutsche GeoForschungsZentrum (GFZ) real\u2212time products, and a gap of about 2 dm compared with the GFZ post\u2212precise products. Using a tactical inertial measurement unit (IMU), the velocimetry accuracies of the tightly integrated PPP\u2212B2b\/INS in the E, N, and U components are all about 0.3 cm\/s, and the attitude accuracy of yaw is about 0.1 deg, while the pitch and roll show a superior performance of less than 0.01 deg. The accuracies of the velocity and attitude mainly depend on the performance of the IMU in the tight integration mode, and there is no significant difference between using real\u2212time products and post products. The performance of the microelectromechanical system (MEMS) IMU and tactical IMU is also compared, and the positioning, velocimetry, and attitude determinations with the MEMS IMU are significantly worsened.<\/jats:p>","DOI":"10.3390\/s23052652","type":"journal-article","created":{"date-parts":[[2023,2,28]],"date-time":"2023-02-28T03:00:38Z","timestamp":1677553238000},"page":"2652","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["PPP\/INS Tight Integration with BDS\u22123 PPP\u2212B2b Service in the Urban Environment"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9757-7345","authenticated-orcid":false,"given":"Luguang","family":"Lai","sequence":"first","affiliation":[{"name":"Institute of Surveying and Mapping, Information Engineering University, Zhengzhou 450001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5020-1204","authenticated-orcid":false,"given":"Xin","family":"Meng","sequence":"additional","affiliation":[{"name":"Institute of Surveying and Mapping, Information Engineering University, Zhengzhou 450001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8615-2459","authenticated-orcid":false,"given":"Dongqing","family":"Zhao","sequence":"additional","affiliation":[{"name":"Institute of Surveying and Mapping, Information Engineering University, Zhengzhou 450001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0576-3181","authenticated-orcid":false,"given":"Xin","family":"Li","sequence":"additional","affiliation":[{"name":"College of Computer and Information, Hohai University, Nanjing 211100, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wenzhuo","family":"Guo","sequence":"additional","affiliation":[{"name":"Institute of Surveying and Mapping, Information Engineering University, Zhengzhou 450001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1056-6406","authenticated-orcid":false,"given":"Linyang","family":"Li","sequence":"additional","affiliation":[{"name":"Institute of Surveying and Mapping, Information Engineering University, Zhengzhou 450001, China"},{"name":"School of Geodesy and Geomatics, Wuhan University, Wuhan 430079, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,2,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"132","DOI":"10.1007\/s00190-021-01578-6","article-title":"Improving PPP\u2013RTK in urban environment by tightly coupled integration of GNSS and INS","volume":"95","author":"Li","year":"2021","journal-title":"J. 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