Indoor Visible Light Positioning and Tracking Method Using Kalman Filter

摘要

In order to improve the accuracy and tracking performance of the indoor positioning system based on visible light communication (VLC), an indoor positioning and tracking method is proposed in this paper. This method utilizes time difference of arrival (TDOA) solved by nonlinear least squares (NLLS) method to realize indoor positioning and uses Kalman filter to obtain the tracking capability. The performance of the proposed positioning method is evaluated in the room measuring 5 m × 5 m × 3 m. The simulation results show that the average location errors by adopting the NLLS method can reach to 2.99 cm and the accuracy of positioning can be promoted to 1.33 cm by using Kalman filter, the positioning accuracy increased by 55.52%.