Abstract: A system with multiple sensors is managed to determine which sensors to utilize when forming an estimate of the system state. A list of active sensor subsets is formed from multiple sensors. The list of active sensor subsets is represented by a list of differing vectors with indices enumerating the sensors of each sensor subset. Noise is filtered from a measurement of each sensor. State and covariance for each sensor of the multiple sensors is estimated based on prior measurements. A quality of service (QoS) metric is calculated for each sensor subset based on the estimated sensor state. The QoS metric is recorded in a QoS vector and the list of active sensors subsets is updated with the sensor subsets that have a QoS metric above a QoS threshold. The state and covariance estimates are combined to form the estimates of the system state and covariance.