Sensor Self-location with FTM Measurements

Multidimensional Scaling is commonly used to solve multi-sensor location problems. In this paper, we show that such technique provides poor results in the case of indoor location problems based on 802.11 Fine Timing Measurements, especially when the number of anchors is small. We then propose an iterative approach based on geometric resolution of angle inaccuracies. We show that this geometric approach provides better location accuracy results than other Euclidean Distance Matrix techniques based on Least Square Error logic. We also show that the proposed technique, with the input of one or more known points, can allow a set of fixed sensors to auto-determine their position on a floor plan.