Ngokwezindlela ezihlukene zokucubungula idatha, kunezakhiwo ezintathu zohlelo lokuhlanganisa ulwazi: olusabalalisiwe, oluphakathi nendawo kanye ne-hybrid.

1) Iyasatshalaliswa: Okokuqala, idatha yoqobo etholwe izinzwa ezizimele icutshungulwa endaweni, bese imiphumela ithunyelwa esikhungweni sokuhlanganisa ulwazi ukuze kusetshenziswe okuhlakaniphile nokuhlanganiswa ukuze kutholwe imiphumela yokugcina. Okusatshalaliswayo kunesidingo esiphansi somkhawulokudonsa wokuxhumana, isivinini sokubala esisheshayo, ukwethembeka okuhle nokuqhubeka, kodwa ukunemba kokulandela ngomkhondo kungaphansi kakhulu kwalokho okubekwe endaweni eyodwa. Isakhiwo sokuhlanganisa esisabalalisiwe singahlukaniswa sibe isakhiwo esisabalalisiwe sokuhlanganisa ngempendulo kanye nesakhiwo sokuhlanganisa esisatshalaliswe ngaphandle kwempendulo.

2) I-Centralization: I-Centralization ithumela idatha eluhlaza etholwe inzwa ngayinye ngokuqondile kuphrosesa emaphakathi ukuze kucutshungulwe i-fusion, engabona ukuhlangana kwesikhathi sangempela. Ukunemba kwayo kokucubungula idatha kuphezulu futhi i-algorithm yayo iyaguquguquka, kodwa ukungalungi kwayo kuyizidingo eziphezulu zeprosesa, ukwethembeka okuphansi kanye nevolumu enkulu yedatha, ngakho-ke kunzima ukuyibona;

3) I-Hybrid: Kuhlaka oluhlanganisiwe lwezinzwa eziningi ezihlanganisa ulwazi, ezinye izinzwa zisebenzisa imodi yokuhlanganisa emaphakathi, kanti ezinye zisebenzisa imodi yokuhlanganisa esabalalisiwe. Uhlaka oluhlanganisiwe lwe-hybrid lukwazi ukuzivumelanisa nezimo okuqinile, lucabangela izinzuzo zokuhlanganisa indawo eyodwa nokusabalalisa, futhi lunozinzo oluqinile. Isakhiwo semodi ye-hybrid fusion siyinkimbinkimbi kakhulu kunaleso sezindlela zokuhlanganisa ezimbili zokuqala, okwandisa izindleko zokuxhumana nokubala.

Isihlungi se-Kalman (KF)

Inqubo yokucubungula ulwazi ngesihlungi se-Kalman ngokuvamile iwukubikezela nokulungiswa. Akuyona nje i-algorithm elula nekhonkolo kuphela, kodwa futhi uhlelo oluwusizo kakhulu lokucubungula uhlelo endimeni yobuchwepheshe bokuhlanganisa ulwazi lwezinzwa eziningi. Eqinisweni, iyafana nezindlela eziningi zesistimu zokucubungula idatha yolwazi. Inikeza isilinganiso esisebenzayo sezibalo sedatha ehlanganisiwe ngokubala okuphindaphindayo kwezibalo, kodwa idinga indawo yokugcina nokubala, ngakho ifanele indawo enesikhala esilinganiselwe sokucubungula idatha nesivinini. I-KF ingahlukaniswa ngezinhlobo ezimbili: isihlungi esisabalalisiwe se-Kalman (DKF) nesihlungi esinwetshiwe se-Kalman (EKF). I-DKF ingenza ukuhlanganiswa kwedatha kwehlukaniseke ngokuphelele, kuyilapho i-EKF inganqoba ngempumelelo umthelela wamaphutha okucubungula idatha kanye nokungazinzi enqubweni yokuhlanganisa ulwazi.