MA 在迁移的过程中，动态决定节点是否需要进行数据融合 运算，以进一步降低MA 的能量消耗。-MA in the course of migration, determine the need for data fusion node operators to further reduce the energy consumption of MA.

联邦滤波器三个通道滤波后数据融合结果，并考虑了丢包，能对高斯噪声及非线性滤波有较好的处理。-Federal filter three channel filtered data fusion results, taking into account the loss can Gaussian noise and nonlinear filtering process better.