NSSA : A Novel Sensor Selection Algorithm Based on Information Complexity And Its Application to Multi-source Navigation

The optimal sensor combination has become a challenge in the multi-source navigation system due to the lack of measurement evaluation metric. In this paper, this problem is partially solved by proposing a novel sensor selection algorithm based on information complexity. The information complexity is firstly formulated and considered as a prioritizing trust metric for sensors. Subsequently, the optimal sensor combination is selected according to the introduced metric. A sensor switching strategy is then devised to facilitate seamless switching and the plug-and-play capability. Simulations and semi-physical experiments validate that the proposed method can evaluate and manage the sensors which makes the navigation accuracy remain unaffected by the vehicle's working environment.