Maererano nemaitiro akasiyana e data ekugadzirisa, pane matatu architectures yeruzivo Feniusion system: yakagoverwa, yakagoverwa uye yakabatanidzwa uye mahybrid.

1) Kugovera Kugoverwa kwakagoverwa kuderera kwekutaurirana kwekutaurirana, kukurumidza kuverenga, kuvimbika kwakanaka uye kuenderera, asi kurongeka kwekutevera hakusati kuri kwekuseri kweimwe. Kugovera kuumbwa kweFelusion kunogona kukamurwa kuita kuparadzirwa fusion chimiro uye kuparadzira fusion chimiro pasina mhinduro.

2) Centralization: Centralation inotumira iyo data rakabikwa yakawanikwa neese sensor zvakananga kune yepakati processor yekufungidzira, iyo inogona kuziva nguva chaiyo yekufungidzira. Yayo data yekugadzirisa yakakwira uye yayo algorithm inoshanduka, asi zvarinoremerwa zvakakwirira zvinodiwa kuti processor, kuvimbika kwakaderera uye yakakura data, saka zvakaoma kuziva;

3) Hybrid: Mune iyo mahybrid akawanda-sensor ruzivo rwekufumisa chimiro, vamwe sensors vanotora centralised folusion mode, uye iyo yekutengesa kugovera Fiusion Mode. Iyo hybrid fusion firame inoshanda yakasimba, inoenderana nezvakanakira zvekufungidzira kwekupedzisira uye kugoverwa, uye kuve nekugadzikana kwakasimba. Chimiro chehybrid fusion folusion maitiro zvakanyanya kuomesa kupfuura iyo yemhando mbiri dzekutanga dzekuputika, dzinowedzera mutengo wekutaurirana uye kuverenga.

Kalman Filter (KF)

Maitiro ekugadzirisa ruzivo neKalman firita kazhinji anofanotaura uye kururamisa. Haisi chete iri nyore uye kongiri algorithm, asi zvakare inobatsira kwazvo system kugadzirisa chirongwa mune yeiyo yakawanda-sensor ruzivo fulion tekinoroji. Muchokwadi, zvakafanana nezvedzimwe nzira dzemaitiro emaitiro ekugadzirisa ruzivo ruzivo. Inopa iyo inoshanda fungidziro yeiyo yeiyo data yakasarudzika kuburikidza nemasvomhu enturate yekudzoreredza kuverenga, asi inoda nzvimbo yekuchengetera, saka yakakodzera nharaunda neine nzvimbo yakatarwa data uye kumhanya. KF inogona kukamurwa kuita marudzi maviri: akagoverwa kalman filter (dkf) uye yakawedzera kalman filter (ekf). DKF inogona kuita kuti data fungidziro yakakwenenzverwa zvakakwana, nepo ekf inogona kukurumidza kukunda iyo pesvedzero yekugadzirisa data uye kusagadzikana pane ruzivo rwekufumisa.