Malinga ndi njira zosiyanasiyana zosinthira deta, pali zomanga zitatu zamakina ophatikizira zidziwitso: zogawidwa, zapakati komanso zosakanizidwa.

1) Kugawidwa: Choyamba, deta yoyambirira yomwe imapezedwa ndi masensa odziyimira pawokha imakonzedwa kwanuko, kenako zotsatira zake zimatumizidwa ku malo ophatikizira zidziwitso kuti zitheke mwanzeru komanso kuphatikiza kuti mupeze zotsatira zomaliza.Kugawidwa kuli ndi kufunikira kochepa kwa bandwidth yolumikizirana, liwiro lowerengera mwachangu, kudalirika kwabwino komanso kupitiliza, koma kulondola kolondola ndikocheperako kuposa komwe kuli pakati.Mapangidwe ophatikizika amatha kugawidwa m'magawo ophatikizika ndi mayankho ndikugawa kapangidwe kaphatikizidwe popanda mayankho.

2) Centralization: Centralization imatumiza deta yaiwisi yomwe imapezedwa ndi sensa iliyonse molunjika ku purosesa yapakati yopangira maphatikizidwe, yomwe imatha kuzindikira kuphatikizika kwanthawi yeniyeni.Kulondola kwake kwadongosolo la data ndikwapamwamba ndipo ma aligorivimu ake amasinthasintha, koma zovuta zake ndizofunika kwambiri kwa purosesa, kudalirika kochepa komanso kuchuluka kwakukulu kwa data, kotero ndizovuta kuzindikira;

3) Zophatikiza: Mu hybrid multi-sensor zambiri maphatikizidwe chimango, masensa ena amatengera njira yapakati yophatikizira, ndipo ena onse amatengera njira yophatikizira.Chimake chophatikizika cha hybrid chimakhala chosinthika kwambiri, chimaganizira zaubwino wa kuphatikiza ndi kugawa kwapakati, ndipo chimakhala chokhazikika.Kapangidwe ka hybrid fusion mode ndizovuta kwambiri kuposa njira ziwiri zoyambirira zophatikizira, zomwe zimawonjezera mtengo wolumikizana ndi kuwerengera.

Sefa ya Kalman (KF)

Njira yopangira zidziwitso ndi fyuluta ya Kalman nthawi zambiri imakhala kulosera ndi kukonza.Sikuti ndi algorithm yosavuta komanso yokhazikika, komanso yothandiza kwambiri pakukonza dongosolo mu gawo laukadaulo wophatikizira zidziwitso zambiri.M'malo mwake, ndizofanana ndi njira zambiri zosinthira zidziwitso.Amapereka chiŵerengero choyenera cha chiwerengero cha deta yosakanikirana pogwiritsa ntchito masamu obwerezabwereza obwerezabwereza, koma amafunikira malo ochepa osungira ndi kuwerengera, choncho ndi oyenera chilengedwe chokhala ndi malo ochepa opangira deta ndi liwiro.KF ikhoza kugawidwa m'mitundu iwiri: fyuluta ya Kalman (DKF) ndi fyuluta yowonjezera ya Kalman (EKF).DKF ikhoza kupangitsa kuti kusakanizika kwa data kugawike kotheratu, pomwe EKF imatha kuthana ndi vuto la zolakwika pakukonza deta komanso kusakhazikika panjira yophatikizira chidziwitso.