Visible light positioning (VLP) is a cost-effective solution to the increasing demand for real-time indoor positioning. However, owing to high computational costs and complicated image processing procedures, most of the existing VLP systems fail to deliver real-time positioning ability and better accuracy for image sensor-based large-area indoor environments. In this study, an effective method is proposed to receive coordinate information from multiple light-emitting diode (LED) lights simultaneously. It provides better accuracy in large experimental areas with many LEDs by using a smartphone-embedded image sensor as a terminal device and the existing LED lighting infrastructure. A flicker-free frequency shift on–off keying line coding modulation scheme was designed for the positioning system to ensure a constant modulated frequency. We tested the performance of the decoding accuracy with respect to vertical and horizontal distance, which utilizes a rolling shutter mechanism of a complementary metal-oxide-semiconductor image sensor. The experimental results of the proposed positioning system can provide centimeter-level accuracy with low computational time, rendering it a promising solution for the future direction of large-area indoor positioning systems.
NAVIS-An UGV Indoor Positioning System Using Laser Scan Matching for Large-Area Real-Time Applications
