Dukurikije uburyo butandukanye bwo gutunganya amakuru, hari ubwubatsi butatu bwibisobanuro bya sisitemu: Gukwirakwizwa, gushyirwa hamwe na Hybrid.

1.) Gukwirakwizwa bikenewe cyane kubitumanaho, umuvuduko wihuse wo kubara, kwizerwa neza no gukomeza, ariko ukuri gukurikirana, ariko ukuri gukurikira ni kure cyane. Gukwirakwiza imiterere birashobora kugabanywamo imiterere ikwirakwizwa hamwe nibitekerezo no gukwirakwiza imiterere ya Fusion nta bitekerezo.

2) Gushyira hamwe: Gushyira hagati yohereza amakuru yibanze yabonetse na buri sensor kumurongo wo gutunganya hagati kugirango utunganyirize, bushobora kumenya amakuru nyayo. Ibisobanuro byamakuru byayo biri hejuru kandi algorithm yayo irahinduka, ariko ibibi byayo nibyifuzo byinshi kugirango utunge, kwizerwa hasi hamwe nubunini bwamakuru manini, niko bigoye kubimenya;

3) Hybrid: Muri Hybrid amakuru menshi ya Sysion Ferusion, sensor zimwe na zimwe zerekana uburyo bwo hagati, hamwe nuburuhukiro bakurikiza uburyo bwa FUsion. Imiterere ya Hybrid ifite guhuza n'imihindagurikire y'ikirere, yitondere ibyiza byo guhuza no gukwirakwiza no kugaburira, kandi ifite umutekano ukomeye. Imiterere ya mode ya Hybrid Forte iragoye kuruta iy'imikoreshereze ya mbere ya Fusion, yongera ikiguzi cyo gutumanaho no kubara.

Kalman Akayunguruzo (KF)

Inzira yo gutunganya amakuru na Kalman Akayunguruzo karimo ubuhanuzi no gukosorwa. Ntabwo ari algorithm yoroshye kandi bifatika, ariko nanone gahunda yo gutunganya sisitemu yingirakamaro mu ruhare rwamakuru menshi ya sensor amakuru ya Fusion Fusion. Mubyukuri, bisa nuburyo bwa sisitemu nyinshi yo gutunganya amakuru yamakuru. Itanga igereranya ryiza ryimibare kumakuru yahujwe hakoreshejwe imibare yimibare, ariko bisaba umwanya muto wo kubikamo no kubara, niko bikwiye kubidukikije hamwe numuvuduko. KF irashobora kugabanywamo ubwoko bubiri: Gukwirakwiza Kalman Akayunguruzo (DKF) na Kalman apangura (EKF). DKF irashobora gukora amakuru fusion yegerejwe rwose, mugihe EKF irashobora gutsinda neza amakosa yo gutunganya amakuru no guhungabana kubikorwa byamakuru.