Abstract
Indoor low-power positioning systems have received much attention, and visible light positioning (VLP) shows great potential for its high accuracy and low power consumption. However, VLP also exhibits some limitations like small coverage area and the requirement of line of sight. Moreover, most VLP applications require the receiver to be within the coverage of at least three LEDs simultaneously, which seriously confines the availability of VLP when LEDs are sparsely deployed. Conversely, radio frequency (RF)-based positioning systems provide large coverage area, but suffer from low positioning accuracy due to multipath interference. In this work, we harnessed the complementary strengths of multiple technologies to develop a hybrid RF-VLP indoor positioning system for improving localization accuracy under sparse anchors. The RF-network-assisted visible light positioning enables each receiver to determine its position autonomously, using signals from a single LED anchor and neighboring receivers, and without needing RF anchors. To validate the effectiveness of the proposed method, we utilize commercial off-the-shelf LED and ESP32 to build up a prototype system. Comprehensive experiments are performed to evaluate the performance of the positioning system, and the results show that the proposed system achieves an overall root mean square error (RMSE) of 26.1 cm, representing a 28.5% improvement in positioning accuracy compared to traditional RF-based positioning methods, which makes it highly feasible for deployment.