I bought the game today, got home, and 4 hours in, I finally reached Whiterun to meet Jarl. Much to my dismay, the guards which were suppose to let me in did not spawn, and upon approaching the door, it said I required a key to enter. I restarted my game file multiple times and tried different methods, but I still could not get the guards to spawn. I tried to get sent to jail, but when I exit the jailhouse, the entire city of Whiterun is glitched with floating doors and NPCs falling out of nowhere and random walls spawning around the city. This is extremely frustrating, is there a solution to this problem?

Try uninstalling your game (by deleting Skyrim and the patch from the game data utility file folder on your PS3) and then reinstalling it.