Ngokuya ngezindlela ezahlukahlukene zokucubungula idatha, kunezakhiwo ezintathu zohlelo lwe-Fision Effion: ezisatshalaliswa, eziphakathi kanye ne-hybrid.

1) Ukusatshalaliswa: Okokuqala, idatha yasekuqaleni etholwe izinzwa ezizimele iyacutshungulwa endaweni, bese imiphumela ithunyelwa esikhungweni se-Fusion se-FUSORT sokuthola amandla okugcina. Ukusatshalaliswa kunesidingo esiphansi se-bandwidth yokuxhumana, isivinini sokubala esisheshayo, ukuthembeka okuhle nokuqhubeka, kepha ukunemba kokulandela umkhondo kungaphansi kakhulu kunalokho okwenziwe okuphakathi. Isakhiwo esisatshalaliswe esisakazwayo singahlukaniswa ngehlukaniswe ukwakhiwa kwe-Fusion esatshalaliswa ngempendulo futhi kusatshalaliswa isakhiwo se-fusion ngaphandle kwempendulo.

2) I-Coundrailization: Ukufakwa kokuphakathi kuthumela imininingwane eluhlaza etholwe inzwa ngayinye ngqo ku-processor ephakathi yokufaka i-fusion, ongayiqaphela i-fusion yesikhathi sangempela. Ukunemba kwayo kwedatha kuphakeme futhi i-algorithm yayo iyavumelana nezimo, kepha ukungahambi kahle kwayo kuyizidingo eziphakeme zeprosesa, ukuthembeka okuphansi kanye nevolumu enkulu yedatha, ngakho-ke kunzima ukukubona;

3) I-Hybrid: Ku-Hybrid-Sensor Emingcen-Sensor Sensor Framework, ezinye izinzwa zamukele imodi ye-fusion ephakathi nendawo, kanye nemodi yokuphumula yokusatshalaliswa kabusha. Uhlaka lwe-Hybrid Fusion lunokuguqulwa okuqinile, libheka izinzuzo zokuhlanganiswa okuphakathi nokusatshalaliswa, futhi zinokuqina okuqinile. Ukwakheka kwemodi ye-Hybrid Fusion kuyinkimbinkimbi kakhulu kunalokho kwezindlela ezimbili zokuqala zokuhlangana, okukhulisa izindleko zokuxhumana nokubalwa.

Isihlungi seKalman (kf)

Inqubo yokwakhiwa kolwazi ngesihlungi se-kalman ngokuvamile ukubikezela kanye nokulungiswa. Akukona kuphela i-algorithm elula nekhonkolo, kodwa futhi nohlelo lokucubungula uhlelo oluwusizo kakhulu endimeni yobuchwepheshe bolwazi lwezinzwa eziningi. Eqinisweni, kuyafana nezindlela eziningi zezinhlelo zokucubungula idatha yolwazi. Inikeza isilinganiso esifanele sezibalo esifanele sedatha esetshenzisiwe nge-Mathematical Iterative Iterative Iterative Iterative Iterative Iterative Iterative Iterative Iterative, kepha idinga indawo encane yokugcina nokubalwa, ngakho-ke ilungele imvelo enesikhala sokucubungula idatha esilinganiselwe. I-KF ingahlukaniswa ngezinhlobo ezimbili: isatshalaliswe isihlungi se-kalman (DKF) kanye ne-Kalman Filter (EKF). I-DKF ingenza i-fusion yedatha ibekwe ngokuphelele, kanti i-EKF inganqoba ngempumelelo ithonya lamaphutha wokucubungula idatha nokungazinzi kwinqubo yokuhlanganiswa kolwazi.