Indoor visible light positioning (VLP) using signals transmitted by lighting LEDs is a topic attracting increasing interest within the research community. In the recent years, VLP techniques using a range of receiver structures and positioning algorithms have been described. In this paper, we analyze the performance of a VLP system, which uses an aperture-based receiver and measurements of received signal strength. An aperture-based receiver has a number of receiving elements, each consisting of a photodiode and an associated aperture. It has been shown that receivers of this form can be designed which are compact and provide both a wide overall field-of-view and good angular diversity. As a result, they can efficiently extract position-related information from light transmitted by nondirectional LEDs. In our approach, we correlate the signals at the outputs of the photodiodes with a set of reference signals. The resulting observations include information on the received signal strength as well as the angle-of-arrival, and are used to directly estimate the receiver's position. In order to assess the performance of positioning algorithms based on this approach, we derive the Cramer–Rao lower bound on the position estimate. We show that the Cramer–Rao bound depends on the selected reference signal, and that subcentimetre to centimetre accuracy can be obtained, using only a limited number of nondirectional LEDs.
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