Wahi a nā ʻano hana hoʻoili ʻikepili like ʻole, aia ʻekolu mau papa hana o ka ʻōnaehana fusion ʻike: puʻunaue, kikowaena a me hybrid.

1) Hoʻolaha ʻia: ʻO ka mea mua, ʻo ka ʻikepili kumu i loaʻa e nā mea ʻike kūʻokoʻa e hana ʻia ma ka ʻāina, a laila e hoʻouna ʻia nā hopena i ke kikowaena fusion ʻike no ka loiloi naʻauao a me ka hui ʻana e loaʻa nā hopena hope. He haʻahaʻa ka noi no ka bandwidth kamaʻilio, ka wikiwiki helu helu, ka hilinaʻi maikaʻi a me ka hoʻomau ʻana, akā ʻoi aku ka liʻiliʻi o ka pololei o ka huli ʻana ma mua o ka mea kikowaena. Hiki ke hoʻokaʻawale ʻia ka ʻōnaehana fusion i hoʻokaʻawale ʻia i ka ʻōnaehana fusion i hāʻawi ʻia me ka manaʻo a me ka hoʻokaʻawale ʻana i ka fusion me ka ʻole o ka manaʻo.

2) Centralization: Hoʻouna ʻo Centralization i ka ʻikepili maka i loaʻa i kēlā me kēia sensor i ke kikowaena kikowaena no ka hana fusion, hiki ke ʻike i ka fusion manawa maoli. He kiʻekiʻe ka pololei o ka hoʻoili ʻana i ka ʻikepili a maʻalahi kona algorithm, akā ʻo kona mau hemahema he mau koi kiʻekiʻe no ka mea hana, haʻahaʻa haʻahaʻa a me ka nui o ka ʻikepili, no laila paʻakikī ke ʻike;

3) Hybrid: I loko o ka hybrid multi-sensor information fusion framework, hoʻohana kekahi mau mea ʻike i ke ʻano fusion kikowaena, a ʻo ke koena e hoʻohana i ke ʻano fusion puʻupuʻu. Loaʻa i ka ʻōnaehana fusion hybrid ka hiki ke hoʻololi, e noʻonoʻo i nā pono o ka fusion kikowaena a me ka hāʻawi ʻana, a paʻa ikaika. ʻOi aku ka paʻakikī o ke ʻano o ka mode fusion hybrid ma mua o nā ʻano fusion mua ʻelua, e hoʻonui ai i ke kumukūʻai o ke kamaʻilio a me ka helu ʻana.

Kānana Kalman (KF)

ʻO ke kaʻina hana o ka ʻike e ka kānana Kalman ʻo ia ka wānana a me ka hoʻoponopono. ʻAʻole ia he algorithm maʻalahi a paʻa wale nō, akā he ʻōnaehana hoʻonohonoho pono loa i ka hana o ka ʻenehana fusion ʻike multi-sensor. ʻO ka ʻoiaʻiʻo, ua like ia me nā ʻano ʻōnaehana o ka hoʻoili ʻana i ka ʻikepili ʻike. Hāʻawi ia i kahi helu helu kūpono kūpono no ka ʻikepili i hoʻohui ʻia ma o ka helu helu recursive makemakika, akā pono ka liʻiliʻi o ka waiho ʻana a me ka helu ʻana, no laila ua kūpono ia no ke kaiapuni me ka liʻiliʻi o ka hoʻoili ʻikepili a me ka wikiwiki. Hiki ke hoʻokaʻawale ʻia ke KF i ʻelua ʻano: kānana Kalman i puʻunaue ʻia (DKF) a me kāna kānana Kalman lōʻihi (EKF). Hiki iā DKF ke hoʻokaʻawale loa i ka hui ʻana o ka ʻikepili, ʻoiai hiki iā EKF ke lanakila maikaʻi i ka mana o nā hewa hoʻoili ʻikepili a me ka paʻa ʻole i ke kaʻina hoʻohui ʻike.