Vehicular Visible Light Positioning System Based on a PSD Detector

In this paper, we explore the use of visible light positioning (VLP) technology in vehicles in intelligent transportation systems (ITS), highlighting its potential for maintaining effective line of sight (LOS) and providing high-accuracy positioning between vehicles. The proposed system (V2V-VLP) is based on a position-sensitive detector (PSD) and exploiting car taillights to determine the position and inter-vehicular distance by angle of arrival (AoA) measurements. The integration of the PSD sensor in vehicles promises exceptional positioning accuracy, opening new prospects for navigation and driving safety. The results revealed that the proposed system enables precise measurement of position and distance between vehicles, including lateral distance. We evaluated the impact of different focal lengths on the system performance, achieving cm-level accuracy for distances up to 35 m, with an optimum focal length of 25 mm, and under low signal-to-noise conditions, which meets the standards required for safe and reliable V2V applications. Several experimental tests were carried out to validate the results of the simulations.

Fasys: Visible-Light-Based Communication and Positioning Services towards Smart Cities

Visible-light-based transmission application plays an important role in various types of sensor services for the Internet of Things (IoTs). However, in big data scenarios, current visible-light-based systems cannot achieve concurrent high-speed communication, low-speed communication, and positioning. Therefore, in this article, we propose a smart visible-light-based fusion applications system, named Fasys, to solve the above problem for the big data traffic with heterogeneity. Specifically, for low-speed data services, we propose a novel linear block coding and bit interleaving mechanism, which enhances the LED positioning accuracy and recovers the lost data bits in the interframe gap (IFG). For high-speed data services with traffic possessing burstiness, an elegant statistical reliability analysis framework in regard to latency is proposed based on martingale theory. The backlog martingale process is constructed. Leveraging stopping time theory, a tight upper bound of unreliability is obtained. An arrival abstraction and traffic allocation scheme is designed, which contributes to decouple the reliability requirement as the maximum supportable arrival load. Finally, we implement our Fasys system, and extensive experimental results show that our system can achieve consistent high-precision positioning and low-BER data communication for low-speed data services. And the proposed martingale-based traffic allocation scheme can achieve the provisioning of reliability in regard to the latency for high-speed data services.

High-Accuracy Height-Independent 3D VLP Based on Received Signal Strength Ratio

Visible light positioning (VLP) has attracted intensive attention from both academic and industrial communities thanks to its high accuracy, immunity to electromagnetic interference, and low deployment cost. In general, the receiver in a VLP system determines its own position by exploring the received signal strength (RSS) from the transmitter according to a pre-built RSS attenuation model. In such model-based methods, the LED's emission power and the receiver's height are usually required known and constant parameters to obtain reasonable positioning accuracy. However, the LED's emission power is normally time-varying due to the fact that the LED's optical output power is prone to changing with the LED's temperature, and the receiver's height is random in a realistic application scenario. To this end, we propose a height-independent three-dimensional (3D) VLP scheme based on the RSS ratio (RSSR), rather than only using RSS. Unlike existing RSS-based VLP methods, our method is able to independently find the horizontal coordinate, i.e., two-dimensional (2D) position, without a priori height information of the receiver, and also avoids the negative effect caused by fluctuation of the LED's emission power. Moreover, we can further infer the height of the receiver to achieve three-dimensional (3D) positioning by iterating the 2D results back into positioning equations. To quickly verify the proposed scheme, we conduct theoretical analysis with mathematical proof and experimental results with real data, which confirm that the proposed scheme can achieve high position accuracy without known information of the receiver's height and LED's emission power. We also implement a VLP prototype with five LED transmitters, and experimental results show that the proposed scheme can achieve very low average errors of 2.73 cm in 2D and 7.20 cm in 3D.

Self-Sufficient Sensor Node Embedding 2D Visible Light Positioning through a Solar Cell Module

Nowadays, indoor positioning (IP) is a relevant aspect in several scenarios within the Internet of Things (IoT) framework, e.g., Industry 4.0, Smart City and Smart Factory, in order to track, amongst others, the position of vehicles, people or goods. This paper presents the realization and testing of a low power sensor node equipped with long range wide area network (LoRaWAN) connectivity and providing 2D Visible Light Positioning (VLP) features. Three modulated LED (light emitting diodes) sources, the same as the ones commonly employed in indoor environments, are used. The localization feature is attained from the received light intensities performing optical channel estimation and lateration directly on the target to be localized, equipped with a low-power microcontroller. Moreover, the node exploits a solar cell, both as optical receiver and energy harvester, provisioning energy from the artificial lights used for positioning, thus realizing an innovative solution for self-sufficient indoor localization. The tests performed in a ~1 m² area reveal accurate positioning results with error lower than 5 cm and energy self-sufficiency even in case of radio transmissions every 10 min, which are compliant with quasi-real time monitoring tasks.

Automating the Calibration of Visible Light Positioning Systems

Visible light positioning is one of the most popular technologies used for indoor positioning research. Like many other technologies, a calibration procedure is required before the system can be used. More specifically, the location and identity of each light source need to be determined. These parameters are often measured manually, which can be a labour-intensive and error-prone process. Previous work proposed the use of a mobile robot for data collection. However, this robot still needed to be steered by a human operator. In this work, we significantly improve the efficiency of calibration by proposing two novel methods that allow the robot to autonomously collect the required calibration data. In postprocessing, the necessary system parameters can be calculated from these data. The first novel method will be referred to as semi-autonomous calibration, and requires some prior knowledge of the LED locations and a map of the environment. The second, fully-autonomous calibration procedure requires no prior knowledge. Simulation results show that the two novel methods are both more accurate than manual steering. Fully autonomous calibration requires approximately the same amount of time to complete, whereas semi-autonomous calibration is significantly faster.

Impact of Transmitter Positioning and Orientation Uncertainty on RSS-Based Visible Light Positioning Accuracy

This paper present simulation-based results on the impact of transmitter (Tx) position and orientation uncertainty on the accuracy of the visible light positioning (VLP) system based on the received signal strength (RSS). There are several constraining factors for RSS-based algorithms, particularly due to multipath channel characteristics and set-up uncertainties. The impact of Tx uncertainties on positioning error performance is studied, assuming a statistical modelling of the uncertainties. Simulation results show that the Tx uncertainties have a severe impact on the positioning error, which can be leveraged through the usage of more transmitters. Concerning a smaller Tx’s position uncertainty of 5 cm, the average positioning errors are 23.3, 15.1, and 13.2 cm with the standard deviation values of 6.4, 4.1, and 2.7 cm for 4-, 9-, and 16-Tx cases, respectively. While for a smaller Tx’ orientation uncertainty of 5°, the average positioning errors are 31.9, 20.6, and 17 cm with standard deviation values of 9.2, 6.3, and 3.9 cm for 4-, 9-, and 16-Tx cases, respectively.

Calibration of Visible Light Positioning Systems with a Mobile Robot

Most indoor positioning systems require calibration before use. Fingerprinting requires the construction of a signal strength map, while ranging systems need the coordinates of the beacons. Calibration approaches exist for positioning systems that use Wi-Fi, radio frequency identification or ultrawideband. However, few examples are available for the calibration of visible light positioning systems. Most works focused on obtaining the channel model parameters or performed a calibration based on known receiver locations. In this paper, we describe an improved procedure that uses a mobile robot for data collection and is able to obtain a map of the environment with the beacon locations and their identities. Compared to previous work, the error is almost halved. Additionally, this approach does not require prior knowledge of the number of light sources or the receiver location. We demonstrate that the system performs well under a wide range of lighting conditions and investigate the influence of parameters such as the robot trajectory, camera resolution and field of view. Finally, we also close the loop between calibration and positioning and show that our approach has similar or better accuracy than manual calibration.

An Indoor Visible Light Positioning System Using Tilted LEDs with High Accuracy

The accuracy of the received signal strength-based visible light positioning (VLP) system in indoor applications is constrained by the tilt angles of transmitters (Txs) and receivers as well as multipath reflections. In this paper, for the first time, we show that tilting the Tx can be beneficial in VLP systems considering both line of sight (LoS) and non-line of sight transmission paths. With the Txs oriented towards the center of the receiving plane (i.e., the pointing center F), the received power level is maximized due to the LoS components on F. We also show that the proposed scheme offers a significant accuracy improvement of up to ~66% compared with a typical non-tilted Tx VLP at a dedicated location within a room using a low complex linear least square algorithm with polynomial regression. The effect of tilting the Tx on the lighting uniformity is also investigated and results proved that the uniformity achieved complies with the European Standard EN 12464-1. Furthermore, we show that the accuracy of VLP can be further enhanced with a minimum positioning error of 8 mm by changing the height of F.

Demonstration of Three-Dimensional Indoor Visible Light Positioning with Multiple Photodiodes and Reinforcement Learning

To provide high-quality location-based services in the era of the Internet of Things, visible light positioning (VLP) is considered a promising technology for indoor positioning. In this paper, we study a multi-photodiodes (multi-PDs) three-dimensional (3D) indoor VLP system enhanced by reinforcement learning (RL), which can realize accurate positioning in the 3D space without any off-line training. The basic 3D positioning model is introduced, where without height information of the receiver, the initial height value is first estimated by exploring its relationship with the received signal strength (RSS), and then, the coordinates of the other two dimensions (i.e., X and Y in the horizontal plane) are calculated via trilateration based on the RSS. Two different RL processes, namely RL₁ and RL₂, are devised to form two methods that further improve horizontal and vertical positioning accuracy, respectively. A combination of RL₁ and RL₂ as the third proposed method enhances the overall 3D positioning accuracy. The positioning performance of the four presented 3D positioning methods, including the basic model without RL (i.e., Benchmark) and three RL based methods that run on top of the basic model, is evaluated experimentally. Experimental results verify that obviously higher 3D positioning accuracy is achieved by implementing any proposed RL based methods compared with the benchmark. The best performance is obtained when using the third RL based method that runs RL₂ and RL₁ sequentially. For the testbed that emulates a typical office environment with a height difference between the receiver and the transmitter ranging from 140 cm to 200 cm, an average 3D positioning error of 2.6 cm is reached by the best RL method, demonstrating at least 20% improvement compared to the basic model without performing RL.

A Comprehensive Study on Light Signals of Opportunity for Subdecimetre Unmodulated Visible Light Positioning

Currently, visible light positioning (VLP) enabling an illumination infrastructure requires a costly retrofit. Intensity modulation systems not only necessitate changes to the internal LED driving module, but decrease the LEDs’ radiant flux as well. This hinders the infrastructure’s ability to meet the maintained illuminance standards. Ideally, the LEDs could be left unmodulated, i.e., unmodulated VLP (uVLP). uVLP systems, inherently low-cost, exploit the characteristics of the light signals of opportunity (LSOOP) to infer a position. In this paper, it is shown that proper signal processing allows using the LED’s characteristic frequency (CF) as a discriminative feature in photodiode (PD)-based received signal strength (RSS) uVLP. This manuscript investigates and compares the aptitude of (future) RSS-based uVLP and VLP systems in terms of their feasibility, cost and accuracy. It demonstrates that CF-based uVLP exhibits an acceptable loss of accuracy compared to (regular) VLP. For point source-like LEDs, uVLP only worsens the trilateration-based median p50 and 90th percentile root-mean-square error p90 from 5.3cm to 7.9cm (+50%) and from 9.6cm to 15.6cm (+62%), in the 4m × 4m room under consideration. A large experimental validation shows that employing a robust model-based fingerprinting localisation procedure, instead of trilateration, further boosts uVLP’s p50 and p90 accuracy to 5.0cm and 10.6cm. When collating with VLP’s p50=3.5cm and p90=6.8cm, uVLP exhibits a comparable positioning performance at a significantly lower cost and at a higher maintained illuminance, all of which underline uVLP’s high adoption potential. With this work, a significant step is taken towards the development of an accurate and low-cost tracking system.

Indoor Visible Light Positioning: Overcoming the Practical Limitations of the Quadrant Angular Diversity Aperture Receiver (QADA) by Using the Two-Stage QADA-Plus Receiver

Visible light positioning (VLP), using LED luminaires as beacons, is a promising solution to the growing demand for accurate indoor positioning. In this paper, we introduce a two-stage receiver that has been specifically designed for VLP. This receiver exploits the advantages of two different VLP receiver types: photodiodes and imaging sensors. In this new receiver design a quadrant angular diversity aperture (QADA) receiver is combined with an off-the-shelf camera to form a robust new receiver called QADA-plus. Results are presented for QADA that show the impact of noise and luminaire geometry on angle of arrival estimation accuracy and positioning accuracy. Detailed discussions highlight other potential sources of error for the QADA receiver and explain how the two-stage QADA-plus can overcome these issues.

Hybrid Visible Light and Ultrasound-Based Sensor for Distance Estimation

Distance estimation plays an important role in location-based services, which has become very popular in recent years. In this paper, a new short range cricket sensor-based approach is proposed for indoor location applications. This solution uses Time Difference of Arrival (TDoA) between an optical and an ultrasound signal which are transmitted simultaneously, to estimate the distance from the base station to the mobile receiver. The measurement of the TDoA at the mobile receiver endpoint is proportional to the distance. The use of optical and ultrasound signals instead of the conventional radio wave signal makes the proposed approach suitable for environments with high levels of electromagnetic interference or where the propagation of radio frequencies is entirely restricted. Furthermore, unlike classical cricket systems, a double-way measurement procedure is introduced, allowing both the base station and mobile node to perform distance estimation simultaneously.