Context-Awareness Assisted PPP/INS Integrated Navigation Enhancement Algorithm

In a complex environment, satellite signals are susceptible to occlusion and interference. The positioning accuracy, reliability and stability of the PPP/INS integrated navigation system are still difficult to meet the requirements of vehicle. To address this problem, a PPP/INS integrated navigation enhancement algorithm assisted by context-aware information is proposed. The algorithm uses context-aware technology to detect vehicle motion states, and constructs corresponding mathematical models or external observation information according to different motion states, providing redundant virtual observations for the PPP/INS integrated navigation system, thereby enhancing the performance of the integrated navigation algorithm. The experimental results show that the use of context-aware information can further improve the performance of the PPP/INS integrated navigation system, especially when the satellite signal quality is poor or GNSS are unavailable, it can provide more reliable navigation parameters.