Robust Design and Experimental Demonstration of RSS-Based Visible Light Positioning Under Limited Receiving FOV

In this paper, we propose a robust received signal strength (RSS)-based indoor visible light positioning (VLP) scheme under limited receiving field-of-view (FOV). The position estimation in the time domain is complicated, and the time-frequency transform is first performed on the received time-domain signal to establish an equivalent frequency-domain RSS model, which simplifies the signal representation and problem solving. To realize robust VLP under limited receiving FOV, we consider the joint estimation of the receiver coordinate, light emitting diode (LED) validity indicator vector, signal phase vector and receiving coefficient based on the frequency-domain RSS vector. The original estimation problem is equivalently transformed into the optimization problem that maximizes the angle between the valid RSS modulus vector and the valid RSS feature vector. Experimental and simulation results verify the effectiveness of the proposed scheme under limited receiving FOV. Specifically, experimental results show that the proposed VLP scheme achieves a stable positioning accuracy below 5 cm under limited receiving FOV in a 60 cm $\times $ 60 cm positioning region with transceiver height 150 cm.