An Intelligent Navigation System is equipped with various types of sensors to perceive and react to its environmental situations. The data types produced from these sensors are varied and easily complicate the integration and analysis of the data. This paper introduces a blackboard-based cooperative system for the sensor data to be plotted, analysed and integrated. The situation analysis process employs two mechanisms to improve the efficiency of the system: multi-layered analysis and minimising regions of analysis. A case study was implemented for road boundary detection using a camera and a Lidar scanner. The result from the implementation demonstrated its promising aspect.