Ukurikije uburyo butandukanye bwo gutunganya amakuru, hariho uburyo butatu bwububiko bwa sisitemu yo guhuza amakuru: gukwirakwizwa, guhuriza hamwe hamwe.

1) Ikwirakwizwa: Ubwa mbere, amakuru yumwimerere yabonetse na sensor yigenga atunganyirizwa mugace, hanyuma ibisubizo byoherezwa mukigo cyamakuru cyo guhuza amakuru kugirango habeho ibitekerezo byubwenge no guhuza kugirango ubone ibisubizo byanyuma. Ikwirakwizwa rifite ibyifuzo bike byitumanaho ryitumanaho, umuvuduko wihuse wo kubara, kwizerwa kwiza no gukomeza, ariko gukurikiranwa neza ni bike cyane ugereranije no hagati. Ikwirakwizwa rya fusion imiterere irashobora kugabanwa muburyo bwo gukwirakwiza fusion hamwe nibitekerezo no gukwirakwiza imiterere ya fusion nta bitekerezo.

2) Kwishyira hamwe: Kwishyira hamwe byohereza amakuru yibanze yabonetse na buri sensor mu buryo butaziguye gutunganya hagati yo gutunganya fusion, ishobora kumenya igihe nyacyo cyo guhuza. Gutunganya amakuru kwayo ni hejuru kandi algorithm yayo iroroshye, ariko ibibi byayo nibisabwa cyane kubitunganya, kwizerwa gake hamwe nubunini bwamakuru menshi, kubwibyo biragoye kubimenya;

3) Hybrid: Muri Hybrid Multi-sensor yamakuru yo guhuza amakuru, sensor zimwe zifata uburyo bwo guhuza hamwe, naho ubundi zikoresha uburyo bwo gukwirakwiza. Urwego rwa Hybrid fusion rufite uburyo bukomeye bwo guhuza n'imihindagurikire y'ikirere, hitabwa ku byiza byo guhuza hamwe no gukwirakwiza, kandi bifite ihame rikomeye. Imiterere yuburyo bwa Hybrid fusion iragoye kuruta iyuburyo bubiri bwa mbere bwo guhuza, byongera ikiguzi cyitumanaho no kubara.

Akayunguruzo ka Kalman (KF)

Inzira yo gutunganya amakuru na Kalman muyunguruzi muri rusange guhanura no gukosora. Ntabwo ari algorithm yoroheje gusa kandi ifatika, ahubwo ni gahunda yingirakamaro yo gutunganya sisitemu mugikorwa cya tekinoroji ya sensor ya tekinoroji. Mubyukuri, birasa nuburyo bwinshi bwa sisitemu yo gutunganya amakuru yamakuru. Itanga imibare ifatika igereranya imibare ihujwe hakoreshejwe imibare ikoreshwa muburyo bwo kubara, ariko bisaba umwanya muto wo kubika no kubara, bityo rero birakwiriye kubidukikije bifite umwanya muto wo gutunganya amakuru n'umuvuduko. KF irashobora kugabanywamo ubwoko bubiri: gukwirakwiza Kalman muyunguruzi (DKF) no kwagura Kalman muyunguruzi (EKF). DKF irashobora gutuma data fusion yegerejwe abaturage, mugihe EKF irashobora gutsinda neza ingaruka zamakosa yo gutunganya amakuru hamwe nihungabana kubikorwa byo guhuza amakuru.