Theoretical Limits Analysis of Indoor Positioning System Using Visible Light and Image Sensor

To solve the problem of parameter optimization in image sensor‐based visible light positioning systems, theoretical limits for both the location and the azimuth angle of the image sensor receiver (ISR) are calculated. In the case of a typical indoor scenario, maximum likelihood estimations for both the location and the azimuth angle of the ISR are first deduced. The Cramer‐Rao Lower Bound (CRLB) is then derived, under the condition that the observation values of the image points are affected by white Gaussian noise. For typical parameters of LEDs and image sensors, simulation results show that accurate estimates for both the location and azimuth angle can be achieved, with positioning errors usually on the order of centimeters and azimuth angle errors being less than 1°. The estimation accuracy depends on the focal length of the lens and on the pixel size and frame rate of the ISR, as well as on the number of transmitters used.