## 1 Introduction
Their review covers key aspects, such as channel modeling, localization techniques, and multiple access schemes, identifying areas requiring further research, such as noise and interference mitigation, as well as integration with other positioning systems. This article provides a valuable reference framework for future developments in this field, emphasizing the importance of ongoing research to address current challenges. For example, in [17], [PERSON] et al. (2022) conducted a study in which they analyzed different configurations concerning positioning error and received power. They propose complementary and supplementary angle measurements based on received signal strength (CSA-RSS) using a photodiode that is always oriented perpendicular to the lights. High accuracy in determining the receiver position is obtained in this work, with an average error of 3.2 cm in 80% of the evaluated positions and a maximum average error of 4.2 cm. In this way, in [18], [PERSON] et al. (2023) proposed a two-dimensional positioning system using two reference LEDs and a photodiode array to achieve accurate position and rotation estimation. The proposed algorithm describes the coordinates of the target using closed formulas based on the directional vectors of incident light, which reduces computational complexity. It is shown that increasing the height or distance between the LEDs could decrease the accuracy of position and rotation estimation, and the average angle of the LEDs should be carefully selected according to the height and distance of the LEDs. In [19], [PERSON] et al. (2021) proposed a positioning system using multiple photodiodes, which enhances accuracy and requires fewer lights than a single photodiode system. The localization error was minimized when using Manhattan or Matusita distance metrics with a weighted k-nearest neighbor (WkNN) algorithm, achieving mean errors of 4.74 mm and 9.87 mm with four and two lights, respectively. However, 3D positioning with multiple photodiodes presents challenges due to complex and non-convex expressions, which require iterative approaches that may not be suitable for embedded applications. Additionally, adding a third dimension to positioning can reduce accuracy, which may be disadvantageous for certain applications. In [20], [PERSON] et al. (2020) conducted a geometric analysis of a visible light positioning system using an array of photodiodes as the receiver and three LED light sources. Their proposal, evaluated through simulation in a 2 \(\times\) 2 \(\times\) 2 m space, aimed to determine the optimal height for the QADA (quadrant photodiode angular diversity aperture). An early foundational study in this field is the work by [PERSON], [PERSON], and [PERSON] (2015) in [21], which introduced a receiver structure for indoor multiple-input multiple-output (MIMO) systems utilizing photodiodes with varying fields of view (FoVs). They analyzed the bit error rate (BER) distribution based on position in a typical room for an MIMO system with asymmetrically clipped optical OFDM (ACO-OFDM) and linear equalizers zero-forcing (ZF) and minimum mean square error (MMSE), finding higher BER values near the center or corners of the room. [PERSON] et al. introduced an innovative sensor for measuring the azimuth of modulated light sources using a planar circular photodiode array (PCPA) in [22]. Their simulation analysis showed that this measurement method with the redundant PCPA achieves an azimuth measurement accuracy between 0.5\({}^{\circ}\) and 2\({}^{\circ}\) depending on the size of the array. The proposed solution is low-cost, achieving an average localization error of less than 0.1 m in a room measuring 5 m by 4 m.  
Additionally, we have analyzed how our method compares to the reviewed works, as shown in Table 1. Our method achieves a localization error of 3 cm, which is comparable to other state-of-the-art methods.