Cooperative visible light positioning systems

Light emitting diode (LED) based visible light positioning (VLP) systems o er an alternative approach to commonly used radio frequency (RF) based positioning systems. In the literature, VLP studies are performed only for noncooperative systems. In this thesis, received signal strength (RSS) based cooperative localization is proposed for visible light systems. The e ects of cooperation on the localization accuracy of visible light positioning systems are illustrated based on a Cram er-Rao lower bound expression. The obtained expression is generic for any three-dimensional con guration and covers all possible cooperation scenarios via de nitions of connectivity sets. In addition, a low-complexity positioning algorithm is proposed for cooperative location estimation. Numerical results are presented to investigate the signi cance of cooperation and to evaluate performance of the proposed algorithm in various scenarios.