Position Estimation in Visible Light Systems in the Presence of Malicious LED Transmitters

We focus on a visible light positioning system in which a receiver performs position estimation based on signals emitted from a number of light emitting diode (LED) transmitters. Each LED transmitter can be malicious and transmit at an unknown power level with a certain probability. A maximum likelihood (ML) position estimator is derived based on the knowledge of probabilities that LED transmitters can be malicious. In addition, in the presence of training measurements, decision rules are designed for detection of malicious LED transmitters, and based on detection results, various ML based location estimators are proposed.