关键词: 可见光, 室内定位系统, 克拉美罗界, 最大似然估计, 成像传感器

Abstract:

To guide the optimization problem of the parameters in the image sensor-based visible light positioning system, theoretical limits on the location estimation of the receiver are calculated by deriving the Cramer-Rao Lower Bound (CRLB). For typical indoor scenes, the observations of the image points at the receiver are affected by the Gaussian white noise, the maximum likelihood estimation(MLE) for the location of the receiver is calculated, and the CRLB for the MLE is derived. By using the real parameters of the location are achievable, with positioning error usually in the order of millimeters. The positioning error depends on the number of transmitters, the focal length of the lens, the vertical distance from roof to receiver, the pixel size and the frame rate of the image sensor.

Key words: visible light, indoor positioning systems, Cramer-Rao bounds, maximum likelihood estimation, image sensor