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In this paper, we propose an accurate visible light indoor localizationsystem for a smartphone using the existing commercial light-emitting diode(LED) luminaries. The proposed technique, called geometrical optics positioningalgorithm (GOPA), uses spatial color code landmarks alongside angle of arrival(AOA)-based geometrical algorithm on smartphones to locate the device, andreserves LED's time-frequency domain modulation to increase the throughput ofthe visible light network broadcast from the same luminaries infrastructure.GOPA algorithm is developed with practical considerations such as flexible handgesture and handshake, and it enables both positioning robustness and on-deviceprocessing. By introducing the idea of virtual plane, field of view (FOV) issueof AOA-based positioning systems is addressed in GOPA. The embeddedaccelerometer and front-facing camera of the smartphone are used at thereceiver side to measure the smartphone inclination and acquire the image.Experimental results show robust two-dimensional ($2$-D) and three-dimensional($3$-D) positioning. The experimental mean positioning error for $2$-Dpositioning is $0.54$ cm, in case one ignoring the tilt. The experimental meanpositioning errors for $3$-D positioning are respectively $1.24$ cm, $1.85$ cm,and $6.02$ cm for ideal non-tilted and non-oriented, non-tilted but orientated,and both tilted and orientated scenarios.

GOPA: Geometrical Optics Positioning Algorithm Using Spatial Color Coded LEDs (Extended Version)