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 (T) between the illuminated reference axis and a device reference axis of the mobile device; determining a second angle (M) between the illuminated reference axis and a common reference axis , 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 (X) 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 (T) between the illuminated reference axis and a device reference axis of the mobile device; determining a second angle (M) between the illuminated reference axis and a common reference axis , 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 (X) 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 (T) between the illuminated reference axis and a device reference axis of the mobile device; determining a second angle (M) between the illuminated reference axis and a common reference axis , 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 (X) 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. <EOS>