In this paper, an indoor robot localization system based on Robot Operating System (ROS) and visible light communication (VLC) is presented. On the basis of our previous work, we innovatively designed a VLC localization and navigation package based on Robot Operating System (ROS), which contains the LED-ID detection and recognition method, the video target tracking algorithm and the double-lamp positioning algorithm. This package exploited the principle of double-lamp positioning and the loose coupling characteristics of the ROS system, which is implemented by loosely coupled ROS nodes. Consequently, this paper combines ROS and VLC, aiming at promoting the application of VLC positioning in mature robotic systems. Moreover, it pushed forward the development of localization application based on VLC technology and lays a foundation for transplanting to other ROS robot platforms. Experimental results show that the proposed system can provide indoor localization within 1 cm and possesses a good real-time performance which takes only 0.4 seconds for one-time positioning. And if a high-performance laptop is used, the single positioning time can be reduced to 0.08 seconds. Therefore, this study confirms the practical application and the superior performance of VLC technology in ROS robot, showing the great potential of VLC localization. T he video demo of the proposed robot positioning system based on VLC can be seen in *
The visible light communication (VLC) technology has attracted much attention in the research of the sixth generation (6G) communication systems. In this paper, a novel three dimensional (3D) space-time-frequency non-stationary geometry-based stochastic model (GBSM) is proposed for indoor VLC channels. The proposed VLC GBSM can capture unique indoor VLC channel characteristics such as the space-time-frequency non-stationarity caused by large light-emitting diode (LED) arrays in indoor scenarios, long travelling paths, and large bandwidths of visible light waves, respectively. In addition, the …
This paper proposes a novel power-efficient light-emitting diode (LED) placement algorithm for indoor visible light communication (VLC). In the considered model, the LEDs can be designedly placed for high power efficiency while satisfying the indoor communication and illumination requirements. This design problem is formulated as a power minimization problem under both communication and illumination level constraints. Due to the interactions among LEDs and the illumination uniformity constraint, the formulated problem is complex and non-convex. To solve the problem, we first transform the comp…
In this communication revolution era, visible light communication (VLC) is the optimum efficacious answer to the increased request for high-speed data transmission with reduced cost, besides the illumination. This technology is considered the best promising candidate for indoor positioning due to its ability to attain higher positioning accuracy than other technologies, alongside its distinct advantages. However, the existing techniques that had been applied in an indoor positioning system (IPS) based on VLC focused on the aspect of accuracy but neglected the aspects of cost and complexity. Th…
This paper presents an indoor visible light communication (VLC) system in conjunction with an imaging receiver with parallel data transmission (spatial multiplexing) to decrease the effects of inter-symbol interference (ISI). To distinguish between light units (transmitters) and to match the light units used to convey the data with the pixels of the imaging receiver, we propose the use of subcarrier multiplexing (SCM) tones. Each light unit transmission is multiplexed with a unique tone. At the receiver, a SCM tone decision system is utilized to measure the power level of each SCM tone and con…
Visible light communication (VLC) has the potential to supplement the growing demand for wireless connectivity. In order to realise the full potential of VLC, channel models are required Discrete channel models based on semi-hidden Markov models (Fritchman model) for indoor VLC using low data rate LEDs are presented. Each channel considered includes background noise and differing types of interference from fluorescent lights and pulse-width modulated (PWM) LEDs, which could be part of an indoor smart lighting system. Models were developed based on experimental error sequences from a VLC system…
Visible light communication (VLC) is an emerging technique that uses light-emitting diodes (LED) to combine communication and illumination. It is considered as a promising scheme for indoor wireless communication that can be deployed at reduced costs while offering high data rate performance. In this paper, we focus on the design of the downlink of a multi-user VLC system. Inherent to multi-user systems is the interference caused by the broadcast nature of the medium. Linear precoding based schemes are among the most popular solutions that have recently been proposed to mitigate inter-user int…
In this paper, we propose a novel visible light communication (VLC) assisted Perspective-fourLine algorithm (V-P4L) for practical indoor localization. The basic idea of V-P4L is to joint VLC and computer vision to achieve high accuracy regardless of LED height differences. In particular, we first exploit the space-domain information to estimate the orientation and coordinate of a single rectangular LED luminaire in the camera coordinate system based on the plane and solid geometry. Then, based on the time-domain information transmitted by VLC and the estimated luminaire information, V-P4L can …
In recent years, with the increasing demand for indoor positioning service, visible light indoor positioning based on image sensors has been widely studied. However, many researches only put forward the relevant localization algorithm and did not make a deep discussion on the principle of the visible light localization. In this paper, we make a deep discussion on the principle of the two-light positioning algorithm and the three-light positioning algorithm based on the image sensor, which includes how these positioning algorithms work and the errors analysis. Based on the discussion above, we …
Visible light communication (VLC) utilizes light-emitting diodes (LEDs) to transmit wireless data. A VLC network can also be used to localize mobile users in indoor environments, where the global positioning system (GPS) signals are weak. However, the line-of-sight (LOS) links of mobile VLC devices can be blocked easily, which decreases the accuracy of localization. In this paper, we study tracking a VLC user when the availability of VLC access point (AP) link changes over the user's route. We propose a localization method for a single available AP and use known estimation methods when a large…
Visible light communication (VLC) is an emerging technology that enables broadband data rates using the visible spectrum. In this paper, considering slow beam steering where VLC beam directions are assumed to be fixed during a transmission frame, we find the steering angles that simultaneously serve multiple users within the frame duration and maximize the data rates. This is achieved by solving a non-convex optimization problem using a grid-based search and majorization-minimization (MM) procedure. Subsequently, we consider multiple steerable beams with a larger number of users in the network…
In this paper, a high coverage algorithm termed enhanced camera assisted received signal strength ratio (eCA-RSSR) positioning algorithm is proposed for visible light positioning (VLP) systems. The basic idea of eCA-RSSR is to utilize visual information captured by the camera to estimate the incidence angles of visible lights first. Based on the incidence angles, eCA-RSSR utilizes the received signal strength ratio (RSSR) calculated by the photodiode (PD) to estimate the ratios of the distances between the LEDs and the receiver. Based on an Euclidean plane geometry theorem, eCA-RSSR transforms…
In this paper, the spectral efficiency of permutation modulation-based multiple input multiple output (MIMO) visible light communication is improved using systematically designed, multiweight codeword matrices. Soft-decision, low-complexity detection schemes are then designed for the receiver and compared with the maximum likelihood (ML) detection method. Bit error rate (BER) results show the soft-decision detection algorithm is able to decode the transmitted information without knowledge of the channel state information. This enables the mobile receiver decode information while within the fie…
State Key Laboratory of Nuclear Power Safety Monitoring Technology and Equipment, China Nuclear Power Engineering Co.,Ltd（国家核电安全监控技术与装备重点实验室，中国核电工程有限公司）；School of Automation Science and Engineering, South China University of Technology（华南理工大学自动化科学与工程学院）；South-tech Information Technology Co.,LTD（南方科技信息技术有限公司）
Visible light positioning (VLP) is widely believed to be a cost-effective answer to the growing demanded for robot indoor positioning. Considering that some extreme environments require robot to be equipped with a precise and radiation-resistance indoor positioning system for doing difficult work, a novel VLP system with high accuracy is proposed to realize the long-playing inspection and intervention under radiation environment. The proposed system with sufficient radiation-tolerance is critical for operational inspection, maintenance and intervention tasks in nuclear facilities. Firstly, we …
Visible light positioning (VLP) is an accurate indoor positioning technology that uses luminaires as transmitters. In particular, circular luminaires are a common source type for VLP, that are typically treated only as point sources for positioning, while ignoring their geometry characteristics. In this paper, the arc feature of the circular luminaire and the coordinate information obtained via visible light communication (VLC) are jointly used for VLC-enabled indoor positioning, and a novel perspective arcs approach is proposed. The proposed approach does not rely on any inertial measurement …
Visible Light Communication~(VLC) systems provide not only illumination and data communication, but also indoor monitoring services if the effect that different events create on the received optical signal is properly tracked. For this purpose, the Channel State Information that a VLC receiver computes to equalize the subcarriers of the OFDM signal can be also reused to train an Unsupervised Learning classifier. This way, different clusters can be created on the collected CSI data, which could be then mapped into relevant events to-be-monitored in the indoor environments, such as the presence …
One of the main aims of indoor visible light communication (VLC) systems is to deliver a high data rate service in single user and in multiuser scenarios. A key obstacle is the ability of the indoor VLC channel to support high data rates in the scenarios of interest. Here, we assess the potential of a multi-branch transmitter (MBT) and its use to achieve higher data rates in single user and multiuser indoor VLC systems. For the single user VLC system, the performance of the MBT is examined with a wide field of view (W-FOV) receiver and an angle diversity receiver (ADR) while for the multiuser …
This paper presents a comprehensive performance analysis of an integrated indoor power line communication (PLC)/visible light communication (VLC) system with the presence of a decode-and-forward (DF) relay. The existing indoor power line networks are used as the backbone for VLCs. The performance of the proposed system is evaluated in terms of the average capacity and the outage probability. A new unified mathematical method is developed for the PLC/VLC system and analytical expressions for the aforementioned performance metrics are derived. Monte Carlo simulations are provided throughout the …
Indoor localization systems based on Visible Light Communication (VLC) have shown promising advantages compared with systems based on other wireless technologies. In these systems, many VLC light-emitting diode (LED) anchors are employed in an indoor space in which location identification messages are sent to user devices in small packets. In normal beacon network models, micro-controller (MCU) or low-end system-on-chip (SoC) are often the coordinators which configure messages for one or many VLC-LED bulbs. In this paper, we discuss about processing overload and implementation cost of the two …
VLC is attracting a lot of attention as an emerging potential technology for deployment in next generation indoor wireless networks. Use of efficient link switching scheme among VLC access points is critical in indoor environment to provide seamless connectivity to mobile users. This paper presents a novel position prediction link switching scheme for indoor visible light communication systems. The method exploits the fact that indoor scenario (light fixtures/furniture) mostly remains unchanged, therefore, this information can be stored at the coordinator end. Thus, the user is not required to…
Visible light communication (VLC) has been recognized as a promising technology for handling the continuously increasing quality of service and connectivity requirements in modern wireless communications, particularly in indoor scenarios. In this context, the present work considers the integration of two distinct modulation schemes, namely spatial modulation (SM) with space time block codes (STBCs), aiming at improving the overall VLC system reliability. Based on this and in order to further enhance the achievable transmission data rate, we integrate quasi-orthogonal STBC (QOSTBC) with SM, sin…
Recent development of the fifth-generation (5G) of cellular networks has led to their deployment worldwide. As part of the implementation, one of the challenges that must be addressed is the skip-zone problem, which occurs when objects obstruct the transmission of signals. A signal obstruction can significantly reduce the signal-to-noise ratio in radio frequency (RF) and indoor visible light communications (VLC) systems, whereas the obstruction can completely disrupt data transmission in free-space optical (FSO) systems. Therefore, the skip-zone dilemma must be resolved to ensure the efficient…
The main challenge in visible light communications (VLC) is the low modulation bandwidth of light-emitting diodes (LEDs). This forms a barrier towards achieving high data rates. Moreover, the implementation of high order modulation schemes is restricted by the requirements of intensity modulation (IM) and direct detection (DD), which demand the use of real unipolar signals. In this paper, we propose a novel amplitude, phase and quadrant (APQ) modulation scheme that fits into the IM/DD restrictions in VLC systems. The proposed scheme decomposes the complex and bipolar symbols of high order modu…
In this paper, an improved channel model of visible light communication (VLC) for ranging in presented. For indoor channel model of VLC, distance is estimated based on received signal strength. In this model, received shot noise as a distance-dependent parameter is considered in range estimation accuracy. Moreover, based on this model, the Cramer-Rao lower bound is computed as the theoretical limits on the performance and accuracy of any unbiased estimator. In this way, the effects of horizontal and vertical distances are investigated. In addition, the transmitted power effect on RSN and accor…
Orthogonal frequency division multiplexing (OFDM) based non-orthogonal multiple access (NOMA) has increased complexity and reduced spectral efficiency in visible light communications (VLC) NOMA compared to radiofrequency NOMA due to non-negative real value constraints on transmit symbols. To address this issue, we propose a generalized non-OFDM based scheme for two scenarios of indoor VLC; i) Multiple access channel (MAC), ii) Broadcast channel (BC). We evaluate the performance of the proposed scheme for MAC using successive interference cancellation (SIC) based decoding, joint maximum likelih…
Visible light communication (VLC) builds upon the dual use of existing lighting infrastructure for wireless data transmission. VLC has recently gained interest as cost-effective, secure, and energy-efficient wireless access technology particularly for indoor user-dense environments. While initial studies in this area are mainly limited to single-user point-to-point links, more recent efforts have focused on multi-user VLC systems in an effort to transform VLC into a scalable and fully networked wireless technology. In this paper, we provide a comprehensive overview of multi-user VLC systems di…
Pedestrian dead-reckoning (PDR) is a potential indoor localization technology that obtains location estimation with the inertial measurement unit (IMU). However, one of its most significant drawbacks is the accumulation of its measurement error. This paper proposes a visible light positioning (VLP)-integrated PDR system, which could achieve real-time and accurate indoor positioning using IMU and the camera sensor of our smartphone. A multi-frame fusion method is proposed in the encoding and decoding process of the system, reaching 98.5% decoding accuracy with a 20-bit-long ID at the height of …
A system that employs wavelength division multiplexing (WDM) in conjunction with subcarrier multiplexing (SCM) tones is proposed to realize high data rate multi-user indoor visible light communication (VLC). The SCM tones, which are unmodulated signals, are used to identify each light unit, to find the optimum light unit for each user and to calculate the level of the co-channel interference (CCI). WDM is utilized to attain a high data rate for each user. In this paper, multicolour (four colours) laser diodes (LDs) are utilized as sources of lighting and data communication. One of the WDM colo…
University of Brighton（布莱顿大学）；Royal Holloway, University of London（伦敦大学皇家霍洛威学院）；Zhejiang University（浙江大学）
The continual proliferation of mobile devices has encouraged much effort in using the smartphones for indoor positioning. This article is dedicated to review the most recent and interesting smartphones based indoor navigation systems, ranging from electromagnetic to inertia to visible light ones, with an emphasis on their unique challenges and potential real-world applications. A taxonomy of smartphones sensors will be introduced, which serves as the basis to categorise different positioning systems for reviewing. A set of criteria to be used for the evaluation purpose will be devised. For eac…
Visible light communication (VLC) is an optical wireless communication technology that is considered a promising solution for high-speed indoor connectivity. Unlike the case in conventional radio-frequency wireless systems, the VLC channel is not isotropic, meaning that the device orientation affects the channel gain significantly. In addition, due to the use of optical frequency bands, the presence of different obstacles (e.g., walls, human bodies, furniture) may easily block the VLC links. One solution to overcome these issues is the integration of the intelligent reflective surface (IRS), w…
We propose an enhanced spatial modulation (SM)-based scheme for indoor visible light communication systems. This scheme enhances the achievable throughput of conventional SM schemes by transmitting higher order complex modulation symbol, which is decomposed into three different parts. These parts carry the amplitude, phase, and quadrant components of the complex symbol, which are then represented by unipolar pulse amplitude modulation (PAM) symbols. Superposition coding is exploited to allocate a fraction of the total power to each part before they are all multiplexed and transmitted simultane…
Photovoltaic (PV) modules have been employed in visible light communication (VLC) for simultaneous energy harvesting and data reception. A PV-based receiver features easy optical alignment and self-powered operation. It is commonly assumed that PV modules in VLC have a linear optical-electrical response, which is generally true under high illumination levels. This paper will illustrate the exacerbated PV's nonlinear distortion when under typical indoor illumination. The nonlinearity of a PV module for different numbers of PV cells is also characterized. We investigated the transmission perform…
We propose an indoor localization algorithm for visible light systems by considering effects of non-line-of-sight (NLOS) propagation. The proposed algorithm, named database assisted nonlinear least squares (DA-NLS), utilizes ideas from both the classical NLS algorithm and the fingerprinting algorithm to achieve accurate and robust localization performance in NLOS environments. In particular, a database is used to learn NLOS effects, and then an NLS algorithm is employed to estimate the position. The performance of the proposed algorithm is compared against that of the fingerprinting and NLS al…
In this letter, we propose a non-orthogonal multiple access (NOMA) based scheme for multi-cell indoor visible light communications (VLC), where cell-edge user is jointly served by multiple cells. Unlike the typical designs in the existing literature, the proposed scheme doesn't involve complex domain and direct current bias addition, which makes the design simple and feasible for real time implementation in indoor VLC. The symbol error rate (SER) of the proposed NOMA scheme is analysed using analytical and simulation results, and is compared with orthogonal multiple access (OMA). It is observe…
This paper proposes an indoor visible light communication (VLC) system with multiple transmitters and receivers. Due to diffusivity of LED light beams, photodiode receive signals from many directions. We use one concave and one convex lens as optical antenna, and obtain the optimal lens structure by optimizing which corresponds to the minimum condition number of channel gain matrix. In this way the light emitted by different LED can be separated well from each other then minimize signal interference. However, interference increases in the case of system deviation, so we explore the system mobi…
Technical University of Munich（慕尼黑工业大学）；Delft University of Technology（代尔夫特理工大学）
To enable serendipitous interaction for indoor IoT environments, spontaneous device associations are of particular interest so that users set up a connection in an ad-hoc manner. Based on the similarity of light signals, our system named DevLoc takes advantage of ubiquitous light sources around us to perform continuous and seamless device grouping. We provide a configuration framework to control the spatial granularity of user's proximity by managing the lighting infrastructure through customized visible light communication. To realize either proximity-based or location-based services, we supp…
In this paper, a compressed sensing (CS) based framework of multi-target cooperative visible light positioning (VLP) is formulated to realize simultaneous highaccuracy localization of multiple targets. The light emitting diodes (LEDs) intended for illumination are utilized to locate multiple target mobile terminals equipped with photodetectors. The indoor area can be divided into a two-dimensional grid of discrete points, and the targets are located in only a few grid points, which has a sparse property. Thus, the multitarget localization problem can be transferred into a sparse recovery probl…
In this paper, we present the first indoor light-based detection and localization system that builds on concepts from radio detection and ranging (radar) making use of the expected growth in the use and adoption of visible light communication (VLC), which can provide the infrastructure for our LiDAL system. Our system enables active detection, counting and localization of people, in addition to being fully compatible with existing VLC systems. In order to detect human (targets), LiDAL uses the visible light spectrum, it sends pulses using a VLC transmitter and analyses the reflected signal col…
Reliable data transmissions and offering better mobility to the end user can be achieved by integrating different communication systems. In this paper, we investigate the performance of a cascaded indoor power line communication (PLC)/visible light communication (VLC) system with the presence of an amplify-and-forward (AF) relay. Using the pre-installed infrastructure of electricity wiring networks gives the advantage to use PLC as a backbone for VLCs. The performance of the proposed hybrid system is discussed in terms of the average capacity. A mathematical method is developed for this networ…
In this paper, we investigate the dynamic power allocation for a visible light communication (VLC) cellular system consisting of two coordinating attocells, each equipped with one access-point (AP). The coordinated multipoint (CoMP) between the two cells is introduced to assist users experiencing high inter-cell-interference (ICI). Specifically, the coordinated zero-forcing (ZF) precoding is used to cancel the ICI at the users located near the centers of the cells, whereas the joint transmission (JT) is employed to eliminate the ICI at the users located at the edge of both cells and to improve…
Visible light positioning (VLP) has drawn plenty of attention as a promising indoor positioning technique. However, in nonstationary environments, the performance of VLP is limited because of the highly time-varying channels. To improve the positioning accuracy and generalization capability in nonstationary environments, a cooperative VLP scheme based on federated learning (FL) is proposed in this paper. Exploiting the FL framework, a global model adaptive to environmental changes can be jointly trained by users without sharing private data of users. Moreover, a Cooperative Visible-light Posit…
Vehicular visible light communications (V-VLC) is a promising intelligent transportation systems (ITS) technology for vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communications with the utilization of light-emitting diodes (LEDs). The main degrading factor for the performance of V-VLC systems is noise. Unlike traditional radio frequency (RF) based systems, V-VLC systems include many noise sources: solar radiation, background lighting from vehicles, streets, parking garages, and tunnel lights. Traditional V-VLC system noise modeling is based on the additive white Gaussian noise…
