Receiver positioning and rotation angle estimation system based on photodiode and LED

The invention discloses a receiver positioning and rotation angle estimation system based on a photodiode and an LED, provides a new light positioning method and a new rotation angle estimation method, and aims at the requirements of indoor positioning, robot navigation, game equipment and the like to obtain a high-precision two-dimensional positioning result. According to the method, incident light signals are collected through a PD array, and the two-dimensional plane coordinates and the rotation angle of the receiver can be directly obtained through a simple expression according to a proposed positioning algorithm and a rotation angle estimation algorithm. Compared with the existing three-dimensional indoor light positioning method for the arrival angle, the arrival time, the received signal strength and the like, the method has the advantages that the method does not depend on a synchronous or modulation-demodulation system; the operation complexity is low; only the PD array is needed to receive the signa