An Efficient Visible Light Positioning and Rotation Estimation System Using Two LEDs and a Photodiode Array

Existing visible light positioning systems suffer from high computational complexity or cannot output rotation estimation results, making it difficult to support indoor navigation. This paper introduces an indoor positioning system with two beacon light-emitting diodes (LEDs) and a photodiode array at the receiver. The photodiode array can estimate the angles of arrival of the light signals from the beacon LEDs, and the user coordinates can be expressed as closed-form functions of the LED coordinates and the measured light directional vectors. We also carry out asymptotic error analysis for the positioning algorithm, and the analytical results reveals important insights for the system design. Simulation results show that the system can achieve centimeter-level accuracy and low average rotation estimation error.