Zvinoenderana neakasiyana nzira dzekugadzirisa data, kune matatu ekuvaka eruzivo fusion system: yakagoverwa, yepakati uye yakasanganiswa.

1) Yakagoverwa: Chekutanga, iyo yekutanga data yakatorwa nema sensors akazvimirira inogadziriswa munharaunda, uyezve mibairo inotumirwa kune ruzivo fusion centre yehungwaru optimization uye musanganiswa kuti uwane mhinduro dzekupedzisira. Yakagoverwa ine yakaderera kudiwa kwekutaurirana bandwidth, kukurumidza kuverenga kumhanya, kuvimbika kwakanaka uye kuenderera, asi iko kurongeka kwechokwadi kwakaderera pane kuya kwepakati. Yakagoverwa fusion chimiro inogona kukamurwa kuita yakagoverwa fusion chimiro nemhinduro uye yakagovaniswa fusion chimiro pasina mhinduro.

2) Centralization: Centralization inotumira iyo mbishi data inowanikwa ne sensor yega yega yakananga kune yepakati processor ye fusion kugadzirisa, iyo inogona kuona chaiyo-nguva fusion. Kururamisa kwayo kwekugadzirisa data kwakakwirira uye algorithm yaro inoshanduka, asi zvipingamupinyi zvayo zvinodikanwa zvakanyanya kune processor, kuderera kwekuvimbika uye yakakura data data, saka zvakaoma kuziva;

3) Hybrid: Mune iyo yakasanganiswa yakawanda-sensor ruzivo fusion chimiro, mamwe masensor anotora centralized fusion modhi, uye mamwe anotora yakagoverwa fusion modhi. Iyo hybrid fusion chimiro ine kuchinjika kwakasimba, inofunga zvakanakira yepakati fusion uye kugovera, uye ine kugadzikana kwakasimba. Mamiriro eiyo hybrid fusion modhi yakanyanya kuomarara kupfuura ayo maviri ekutanga fusion modhi, ayo anowedzera mutengo wekutaurirana uye kuverenga.

Kalman sefa (KF)

Maitiro ekugadzirisa ruzivo neKalman sefa kazhinji kufanotaura uye kugadzirisa. Haisi chete yakapusa uye kongiri algorithm, asiwo inobatsira kwazvo sisitimu yekugadzirisa hurongwa mune basa reakawanda-sensor ruzivo fusion tekinoroji. Muchokwadi, yakafanana neakawanda masisitimu nzira dzekugadzirisa data data. Inopa fungidziro inoshanda yenhamba ye data yakasanganiswa nenzira yemasvomhu iterative recursive calculation, asi inoda shoma nzvimbo yekuchengetera uye kuverenga, saka inokodzera nharaunda ine shoma yekugadziridza data nzvimbo nekumhanya. KF inogona kukamurwa kuita mhando mbiri: yakagoverwa Kalman sefa (DKF) uye yakawedzera Kalman sefa (EKF). DKF inogona kuita kuti data fusion igadzirwe zvachose, nepo EKF ichikwanisa kukunda pesvedzero yezvikanganiso zvekugadzirisa data uye kusagadzikana pane ruzivo rwefusion process.