Sensor Subsets Selection for ASPN Based on Environment Awareness

This paper studies the sensor subset selection problem in the All-Source Positioning and Navigation (ASPN). Our research is based on the factor graph structure, which realizes the plug-and-play function of sensors. We summary the influence of the environment on sensors, and obtain an environment description method suitable for this problem. Sensor data evaluation is based on the DBSCAN clustering algorithm. Experimental results demonstrate that our approach can realize sensor selection and switching under dynamic conditions.