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In this paper, a high coverage algorithm termed enhanced camera assistedreceived signal strength ratio (eCA-RSSR) positioning algorithm is proposed forvisible light positioning (VLP) systems. The basic idea of eCA-RSSR is toutilize visual information captured by the camera to estimate the incidenceangles of visible lights first. Based on the incidence angles, eCA-RSSRutilizes the received signal strength ratio (RSSR) calculated by the photodiode(PD) to estimate the ratios of the distances between the LEDs and the receiver.Based on an Euclidean plane geometry theorem, eCA-RSSR transforms the ratios ofthe distances into the absolute values. In this way, eCA-RSSR only requires 3LEDs for both orientation-free 2D and 3D positioning, implying that eCA-RSSRcan achieve high coverage. Based on the absolute values of the distances, thelinear least square method is employed to estimate the position of thereceiver. Therefore, for the receiver having a small distance between the PDand the camera, the accuracy of eCA-RSSR does not depend on the starting valuesof the non-linear least square method and the complexity of eCA-RSSR is low.Furthermore, since the distance between the PD and camera can significantlyaffect the performance of eCA-RSSR, we further propose a compensation algorithmfor eCA-RSSR based on the single-view geometry. Simulation results show thateCA-RSSR can achieve centimeter-level accuracy over 80% indoor area for boththe receivers having a small and a large distance between the PD and thecamera.

A High Coverage Camera Assisted Received Signal Strength Ratio Algorithm for Indoor Visible Light Positioning