A Two-LED Based Indoor Three-Dimensional Visible Light Positioning and Orienteering Scheme for a Tilted Receiver

Abstract

Conventional visible light positioning (VLP) systems usually require at least three light-emitting diodes (LEDs) to enable trilateration or triangulation, which is infeasible when the LED condition is constrained. In this paper, we propose a novel indoor three-dimensional (3D) VLP and orienteering (VLPO) scheme. By using only two LEDs and two photo-detectors (PDs), our scheme can achieve simultaneous 3D localization and receiver orientation estimation efficiently. Further, to eliminate the location uncertainty caused by receiver tilt, we propose a location selection strategy which can effectively determine the true location of the receiver. Through extensive simulations, it is found that when the receiver faces upwards, the proposed scheme can achieve a mean 3D positioning error of 7.4 cm and a mean azimuthal error of 7.0°. Moreover, when the receiver tilts with a polar angle of 10°, accurate VLPO can still be achieved with 90.3% of 3D positioning errors less than 20 cm and 92.6% of azimuthal errors less than 5°. These results indicate that our scheme is a promising solution to achieve accurate VLPO when there is only two LEDs. Results also verify the effectiveness of the VLPO scheme when locating a tilted receiver.