A method for determining an orientation of a mobile device, wherein the mobile device is: a wireless communication device which is a handset, cellular device, tablet device or wearable device; or a robotic machine, the method comprising: capturing, at the mobile device, an image of an overhead light fixture defining an illuminated reference axis, wherein the at least one overhead light fixture is emitting; receiving a visible light communication, VLC, signal comprising an identifier of the overhead light fixture; determining a first angle between the illuminated reference axis and a device reference axis of the mobile device; determining a second angle between the illuminated reference axis and a common reference axis (405, 505), wherein the common reference axis corresponds to a compass heading, comprising obtaining the second angle from electronically stored information based at least in part on the identifier of the overhead light fixture; estimating a third angle between the device reference axis and the common reference axis; and determining the orientation of the mobile device based at least in part on the first angle, the second angle, and the third angle. a wireless communication device which is a handset, cellular device, tablet device or wearable device; or a robotic machine, the method comprising: capturing, at the mobile device, an image of an overhead light fixture defining an illuminated reference axis, wherein the at least one overhead light fixture is emitting; receiving a visible light communication, VLC, signal comprising an identifier of the overhead light fixture; determining a first angle between the illuminated reference axis and a device reference axis of the mobile device; determining a second angle between the illuminated reference axis and a common reference axis (405, 505), wherein the common reference axis corresponds to a compass heading, comprising obtaining the second angle from electronically stored information based at least in part on the identifier of the overhead light fixture; estimating a third angle between the device reference axis and the common reference axis; and determining the orientation of the mobile device based at least in part on the first angle, the second angle, and the third angle. capturing, at the mobile device, an image of an overhead light fixture defining an illuminated reference axis, wherein the at least one overhead light fixture is emitting; receiving a visible light communication, VLC, signal comprising an identifier of the overhead light fixture; determining a first angle between the illuminated reference axis and a device reference axis of the mobile device; determining a second angle between the illuminated reference axis and a common reference axis (405, 505), wherein the common reference axis corresponds to a compass heading, comprising obtaining the second angle from electronically stored information based at least in part on the identifier of the overhead light fixture; estimating a third angle between the device reference axis and the common reference axis; and determining the orientation of the mobile device based at least in part on the first angle, the second angle, and the third angle.