Indoor Positioning Modeling by Visible Light Communication and Imaging

This letter presents a model of an indoor light positioning system (LPS) based on white LEDs and a camera. The position of an LPS receiver is determined through both its relative position to LEDs according to their images captured by the camera and LEDs' absolute position information in the navigation frame, obtained through a visible light communication (VLC) link. The error performance of the proposed LPS is analyzed. The mean error and mean square error (MSE) of estimated receiver position using least squares (LS) and weighted least squares (WLS) estimators are both derived in the presence of non-uniform measurement bias and white Gaussian noise. The effects of communication data rate on the positioning accuracy are also studied through BER performance.