Abstract: This paper briefs several methods of sensor data fusion and proposes a system based on the guidingmethod. This system gives satisfactory results in the mobile robot positioning. It has the following charac-teristics: 1. capable of parallel processing by employing a distributed blackboard as computingmechanism; 2. taking the crucial factor time into consideration by introducing temporal reasoning into thesystem. Our data fusion method and its implementation architecture can in principle be extended to otherrelevant domains.