Although the tightly integrated inertial navigation system/ultra wide band (INS/UWB) improves the localization accuracy, it suffers from UWB distance outage. In order to reduce the outage effect on the position accuracy, in this paper we propose using a novel decision tree (DT)-extended finite impulse response (EFIR) filter. When all the UWB distances are available, the EFIR filter tightly fuses the INS and UWB data. Otherwise, the DT builds a relationship between the INS and UWB position errors. Once at least one UWB distance is unavailable, the DT bridges a gap over unavailable measurements. It is shown experimentally that the DT-EFIR filter is an efficient tool to reduce the effect of the UWB distance outage on the INS/UWB system operation, which can improve the localization error by about 40% as compared with the UWB solution.

尽管紧密集成的惯性导航系统/超宽带（INS / UWB）改善了定位精度，但是它遭受UWB距离中断的困扰。为了减少停电对位置精度的影响，在本文中，我们提出使用新颖的决策树（DT）扩展有限脉冲响应（EFIR）滤波器。当所有UWB距离均可用时，EFIR滤波器将INS和UWB数据紧密融合。否则，DT将在INS和UWB位置错误之间建立关系。一旦至少一个UWB距离不可用，DT就会在不可用的测量结果之间架起一座桥梁。实验表明，DT-EFIR滤波器是减少UWB距离中断对INS / UWB系统操作的影响的有效工具，与UWB解决方案相比，它可以将定位误差提高约40％。