Raws li cov ntaub ntawv sib txawv ntawm kev ua cov txheej txheem, muaj peb cov qauv ntawm cov ntaub ntawv fusion system: faib, nruab nrab thiab hybrid.

1) Kev faib tawm: Ua ntej, cov ntaub ntawv qub tau txais los ntawm cov sensors ywj pheej tau ua tiav hauv zos, thiab tom qab ntawd cov txiaj ntsig raug xa mus rau cov ntaub ntawv fusion chaw rau kev ua kom zoo tshaj plaws thiab kev sib xyaw kom tau txais cov txiaj ntsig kawg. Kev faib tawm muaj qhov xav tau qis rau kev sib txuas lus bandwidth, kev suav ceev ceev, kev ntseeg tau zoo thiab txuas ntxiv, tab sis qhov tseeb ntawm kev taug qab yog deb tsawg dua li ntawm qhov nruab nrab. Distributed fusion qauv tuaj yeem muab faib ua cov qauv fusion nrog cov lus tawm tswv yim thiab cov qauv fusion faib yam tsis muaj kev tawm tswv yim.

2) Centralization: Centralization xa cov ntaub ntawv raw tau txais los ntawm txhua lub sensor ncaj qha mus rau lub hauv paus processor rau fusion ua, uas tuaj yeem paub txog lub sijhawm fusion. Nws cov ntaub ntawv ua tiav qhov tseeb yog siab thiab nws cov algorithm yog hloov tau, tab sis nws qhov tsis zoo yog qhov yuav tsum tau muaj rau cov processor, tsis tshua muaj kev ntseeg siab thiab cov ntaub ntawv loj, yog li nws nyuaj rau kev paub;

3) Hybrid: Nyob rau hauv hybrid multi-sensor ntaub ntawv fusion moj khaum, ib co sensors txais centralized fusion hom, thiab tus so txais kev faib fusion hom. Lub hybrid fusion moj khaum muaj zog adaptability, coj mus rau hauv tus account qhov zoo ntawm centralized fusion thiab faib, thiab muaj zog stability. Cov qauv ntawm hybrid fusion hom yog qhov nyuaj dua li ntawm thawj ob hom fusion, uas ua rau kom tus nqi ntawm kev sib txuas lus thiab kev suav.

Kalman lim (KF)

Cov txheej txheem ntawm kev ua cov ntaub ntawv los ntawm Kalman lim feem ntau yog kev twv ua ntej thiab kho. Nws tsis yog tsuas yog ib qho yooj yim thiab pob zeb algorithm, tab sis kuj yog ib qho tseem ceeb heev txheej txheem txheej txheem nyob rau hauv lub luag hauj lwm ntawm multi-sensor ntaub ntawv fusion technology. Qhov tseeb, nws zoo ib yam li ntau lub tshuab 'txoj kev ntawm kev ua cov ntaub ntawv cov ntaub ntawv. Nws muab cov txiaj ntsig zoo tshaj plaws ntawm kev kwv yees rau cov ntaub ntawv fused los ntawm kev ua lej rov ua lej rov ua dua, tab sis nws yuav tsum muaj qhov chaw cia me me thiab suav, yog li nws tsim nyog rau ib puag ncig nrog cov ntaub ntawv ua haujlwm tsawg thiab nrawm. KF tuaj yeem muab faib ua ob hom: faib Kalman lim (DKF) thiab txuas ntxiv Kalman lim (EKF). DKF tuaj yeem ua cov ntaub ntawv fusion tag nrho decentralized, thaum EKF tuaj yeem kov yeej kev cuam tshuam ntawm cov ntaub ntawv ua yuam kev thiab tsis ruaj khov ntawm cov ntaub ntawv fusion txheej txheem.