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Localisation of multiple mobile subjects using multidimensional scaling and sensor fusion

This paper develops innovative algorithms to track multiple mobile subjects in a wireless ad hoc network. First, we enhance an existing Multidimensional Scaling (MDS) based localisation algorithm with beacon selection in the absolute mapping process. Second, a Dynamic Multidimensional Scaling (DMDS) algorithm is developed based on that enhanced localisation algorithm. Third, a sensor fusion approach is proposed to integrate the estimates from dead reckoning and the DMDS algorithm. Finally, to further improve the sensor fusion results, we use adaptive fusion weights between the dead reckoning estimates and the DMDS estimates. Simulation results are provided to validate the proposed algorithms.