Multi-sensors onboard UAV, what is the most suitable processing machine architecture?

The Unmanned Aerial Vehicles (UAV) domain presents a growing interest in the eyes of modern headquarters. Their role is more and more strategic as they are involved in a large variety of missions such as intelligence or ground targets attack but also air combat in the future. Specific technologies called multi-sensors are implemented in these platforms, especially in the domain of radio-frequency arrays with, for example, the use of Multi-Function Antennas (MFA) panels. This article deals with the sensors fusion issue through a global reflection on the processing architecture. Should we give priority to a centralized architecture (processing farm) in comparison to a distributed architecture? Could a partially centralized architecture be the solution? Starting from UAV specific constraints and types of processing to achieve, the article will analyze the pros and cons of all configurations before conclusion.