Malinga ndi njira zosiyanasiyana zosinthira deta, pali zomanga zitatu za zojambulajambula za chidziwitso: Kugawidwa, chapakati komanso osakanizidwa.

1) Kugawidwa: Choyamba, chidziwitso choyambirira chomwe chimaperekedwa ndi ma senso odziyimira payekha, kenako zotsatirazi zimatumizidwa ku lipoti lazinthu zokuthandizani komanso kuphatikiza kupeza zotsatira zomaliza. Kugawidwa kumafuna kotsika kolumikizirana kwa ngodya, kuthamanga kwachangu, kudalirika koyenera komanso kupitiliza, koma kulondola kotsata kuli kocheperako kuposa imodzi. Kugawidwanso kwanyengo kumatha kugawidwa kuti mufanane ndi malingaliro ndi mayankho ndikugawa kapangidwe kake popanda mayankho.

2) Centunilization: Centernalization imatumiza deta yaiwisi yomwe yapezeka ndi sensor iliyonse mwachindunji pa purosesa yamphamvu ya fusition protekition, yomwe imatha kuzindikira kusintha kwa nthawi-yeniyeni. Kulondola kwake kwa deta ndikokwera ndi algorithm yake kumasinthasintha, koma zovuta zake ndizofunikira kwambiri kwa purosesa, kudalirika kotsika komanso voliyumu yayikulu ndi voliyumu yayikulu, kotero nkovuta kudziwa;

3) Wophatikiza: Mu chidziwitso chophatikizika kwambiri, masensa ena amatengera mawonekedwe a mitundu yazovuta, ndipo zotsalazo zimatengera njira yosinthira. Maluso ophatikizika amasintha kwambiri, amawafotokozera bwino zabwino za fusion yapakati komanso kugawa, ndipo ali ndi bata wamphamvu. Kapangidwe ka kapangidwe ka hybrid fusion kumakhala kovuta kwambiri kuposa momwe zimakhalira ndi mitundu iwiri yoyamba, yomwe imawonjezera mtengo wolumikizirana ndi kuwerengera.

Kalman Fyuluse (kf)

Njira yosinthira chidziwitso ndi Fyuluta ya Kalman nthawi zambiri imaneneratu komanso kukonza. Sikuti ndi algorithm yophweka komanso ya konkriti yokha, komanso njira yothandiza kwambiri dongosolo muukadaulo wazovuta zingapo. M'malo mwake, ndizofanana ndi njira zambiri zamakina ogwiritsira ntchito chidziwitso. Imaperekanso zowerengera zovomerezeka pogwiritsa ntchito njira yosinthira matehemuti yobwezeretsa, koma pamafunika malo osungirako pang'ono ndikuwerengera, motero ndizoyenera malo osinthira deta ndi liwiro. Kf ikhoza kugawidwa m'mitundu iwiri: Kugawa Kalman Fyuluse (DKF) ndikuwonjezera Fyuluta ya Kalman (ekf). DKF imatha kupanga chida chophatikizidwa kwathunthu, pomwe ekf imatha kuthana ndi zolakwa za deta ndi kusakhazikika pazithunzi za chidziwitso.