Accuracy and Precision of Agents Orientation in an Indoor Positioning System Using Multiple Infrastructure Lighting...

Area of Science:

• Robotics
• Indoor Positioning Systems
• Sensor Technology

Background:

• Accurate agent orientation is crucial for many indoor localization applications.
• Existing systems may not provide sufficient orientation precision.
• Visible light communication (VLC) offers a promising avenue for indoor sensing.

Purpose of the Study:

• To develop and evaluate an orientation estimation system using visible light and position-sensitive device (PSD) sensors.
• To determine the accuracy of orientation estimation with varying numbers of light sources.
• To assess the system's performance in a real-world indoor environment.

Main Methods:

• Utilized position-sensitive device (PSD) sensors to detect visible light from room illumination.
• Employed 2 or 4 light sources simultaneously for orientation estimation.
• Experimentally validated the system in a 2.5m-high room over a 2.2m² area.
• Used geodetic measurement tools for ground truth reference.

Main Results:

• Orientation estimation error was less than 0.2 degrees for two emitters.
• With four light sources, mean errors for Euler rotation angles were below 0.35° (x, y-axis) and 0.16° (z-axis).
• High accuracy was experimentally verified.

Conclusions:

• The proposed system effectively estimates agent orientation using visible light and PSD sensors.
• The system demonstrates high precision, suitable for demanding indoor localization tasks.
• This approach offers a viable solution for accurate indoor orientation sensing.