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. We propose and demonstrate an indoor location awareness method for an autonomous robot vehicle using light-emitting diodes (LEDs). The location is estimated by measuring received signal strength ratio (RSSR), which is the relative ratio of optical powers detected between each LED and optical receiver. In this method, multiple LED lamps on the indoor ceiling are used, which can radiate light only during the individual time slot assigned to each of them. Using the RSSRs, circle or straight line equations are obtained and the crossing point among those equations determines the location of the object. In the experiment, four LED lamps are identified by time-division multiplexing with room dimensions of 1.0×1.0×1.3  m3, and the results show that the mean of the location error is 3.24 cm in the entire floor area.

Indoor location awareness based on received signal strength ratio and time division multiplexing using light-emitting diode light