Ngokweendlela ezahlukeneyo zokusetyenzwa kwedatha, kukho iindlela ezintathu zoyilo lwenkqubo yokudibanisa ulwazi: isasazwa, iphakathi kunye ne-hybrid.

I-1) Ukuhanjiswa: Okokuqala, idatha yoqobo efunyenwe ngabenzi boluvo abazimeleyo icutshungulwa kwindawo, kwaye ke iziphumo zithunyelwa kwiziko le-fusion yolwazi ukuze kuphuculwe ngobukrelekrele kunye nokudibanisa ukufumana iziphumo zokugqibela.Ukusasazwa kunemfuno ephantsi ye-bandwidth yonxibelelwano, isantya sokubala ngokukhawuleza, ukuthembeka okulungileyo kunye nokuqhubekeka, kodwa ukuchaneka kokulandela umkhondo kungaphantsi kakhulu kunomnye ophakathi.Ulwakhiwo lodibaniso olusasazwayo lunokwahlulwa lube lulwakhiwo lodibaniso olusasazwayo kunye nengxelo kunye nolwakhiwo lodibaniso olusasazwayo ngaphandle kwengxelo.

I-2) I-Centralization: I-Centralization ithumela idatha ekrwada efunyenwe yinzwa nganye ngokuthe ngqo kwiprosesa ephakathi yokulungiswa kwe-fusion, enokuqonda ukudibanisa kwexesha langempela.Ukuchaneka kwayo kwedatha yokuchaneka kuphezulu kwaye i-algorithm yayo iguquguqukayo, kodwa ukungonakali kwayo ziimfuno eziphezulu zeprosesa, ukuthembeka okuphantsi kunye nomthamo omkhulu wedatha, ngoko kunzima ukuyiqonda;

3) IHybrid: Kwisakhelo se-hybrid ye-multi-sensor yokudibanisa ulwazi, ezinye izinzwa zisebenzisa imowudi yokudityaniswa esembindini, kwaye ezinye zamkela imowudi yokudibanisa.Isakhelo se-hybrid fusion sinokuguquguquka okuqinileyo, sithathela ingqalelo inzuzo yokudibanisa kunye nokusabalalisa, kwaye sinozinzo oluqinileyo.Ubume bemowudi ye-hybrid fusion intsonkothe ​​ngakumbi kuneendlela ezimbini zokuqala zokudibanisa, ezinyusa iindleko zonxibelelwano kunye nokubala.

Isihluzo se-Kalman (KF)

Inkqubo yokwenziwa kolwazi ngesihluzo se-Kalman luqikelelo jikelele kunye nolungiso.Ayisiyo kuphela i-algorithm elula kunye nekhonkrithi, kodwa kunye nenkqubo eluncedo kakhulu yokucwangcisa inkqubo kwindima yeteknoloji yokudibanisa ulwazi oluninzi.Enyanisweni, iyafana neendlela ezininzi zeenkqubo zokusetyenzwa kwedatha yolwazi.Inika uqikelelo lweenkcukacha-manani olusebenzayo lwedatha edityanisiweyo ngokubala okuphinda-phindayo kwezibalo, kodwa ifuna indawo yokugcina kunye nokubala, ngoko ifanele imo engqongileyo enesithuba esilinganiselweyo sokusetyenzwa kwedatha kunye nesantya.I-KF inokohlulwa ibe ziindidi ezimbini: isihluzo esisasaziweyo se-Kalman (DKF) kunye nesihluzo esandisiweyo se-Kalman (EKF).I-DKF inokwenza udibaniso lwedatha lunatyiselwe ngokupheleleyo, ngelixa i-EKF inokoyisa ngempumelelo impembelelo yeempazamo zokwenziwa kwedatha kunye nokungazinzi kwinkqubo yokudibanisa ulwazi.