基于图像传感器的室内可见光定位性能界限OA

To optimize the parameters of indoor visible light positioning(VLP)system based on image sensors(ISs),the in-depth analysis of the theoretical performance bound of the system was conducted.The multiple light-emitting diodes(LEDs)were employed as transmitters with a camera as receiver.Without prior knowledge of the camera position and orientation,the accurate camera localization was achieved by analyzing the geometric relationship between the positions of LEDs in the world coordinate system and their pixel coordinates on the camera image plane.In the typical indoor environment,the effect of white Gaussian noise on the imaging process was considered,and the Cramér-Rao lower bound(CRLB)for the three-dimensional coordinates and orientation of the camera was derived.The theoretical analysis was verified through the comparison between simulation and experimental data.The results show that the indoor VLP system based on commonly used LEDs and ISs can theoretically achieve the millimeter-level positioning accuracy,and the performance is mainly affected by the distance between the camera and LEDs,the camera focal length,the camera orientation and the number of LEDs.