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In this manuscript, distance and position estimation problems areinvestigated for visible light positioning (VLP) systems with red-green-blue(RGB) light emitting diodes (LEDs). The accuracy limits on distance andposition estimation are calculated in terms of the Cramer-Rao lower bound(CRLB) for three different scenarios. Scenario~1 and Scenario~2 correspond tosynchronous and asynchronous systems, respectively, with known channelattenuation formulas at the receiver. In Scenario~3, a synchronous system isconsidered but channel attenuation formulas are not known at the receiver. Thederived CRLB expressions reveal the relations among distance/positionestimation accuracies in the considered scenarios and lead to intuitiveexplanations for the benefits of using RGB LEDs. In addition, maximumlikelihood (ML) estimators are derived in all scenarios, and it is shown thatthey can achieve close performance to the CRLBs in some cases for sufficientlyhigh source optical powers.

Distance and Position Estimation in Visible Light Systems with RGB LEDs