Experimental indoor tracking testbed based on Visible Light Communication Indoor positioning and tracking has attracted significant attention for its wide applications in public security, military and business areas. Visible Light Communication (VLC), as an emerging technology, has already achieved successfully applications in positioning task and found its way in indoor tracking scenarios. In this paper, we propose a unified tracking testbed based on inertial sensors and VLC to locate and track a mobile robot in an indoor environment. This testbed includes the VLC hardware system, the robotic platform, the local server application and the Graphical User Interface (GUI). The proposed testbed is scalable to test and compare different indoor tracking technologies and algorithms with both simulation and experimental data.

High Accuracy Indoor Visible Light Positioning Considering the Shapes of Illuminators The indoor visible light positioning (VLP) system is a strong candidate for future indoor positioning solutions with the fast development of visible light communications systems. Most of the VLP algorithms are based on a simple model which considers the illuminator as a dot, ignoring its true geometric shape. Since a lot of illuminators are in different shapes, the VLP algorithms failing to consider the real geometric shapes of illuminators suffer from precision degradation. In this paper, a novel indoor VLP algorithm considering the real geometric shapes of illuminators is proposed. Simulation results cohere with the theoretical analysis demonstrate the precision of the proposed algorithm. The average positioning error of the proposed algorithm is approximately 0.8 cm under noiseless cases, much higher accuracy than the 32 cm average error by VLP algorithms ignoring the true geometric shapes of illuminators.