Asynchronous Hybrid Indoor Positioning System Based on Inertial Navigation and Pseudo-Miller-coding Aided Visible Light Positioning

In this paper, a new hybrid indoor positioning system is proposed for indoor scenarios where no transceiver synchronization mechanism is available. More specifically, the pseudo-Miller-coding (pMC) is employed for improving the detection of the light-emitting diode identifiers (LED-ID), which are periodically broadcasted by the LED transmitters. Furthermore, the inertial measurement unit (IMU) is exploited for obtaining the real-time location information of the user equipment (UE), which is then amalgamated with the positioning result estimated by the visible light positioning (VLP) technology. In addition, a maximum likelihood estimation (MLE) aided fusion positioning algorithm is devised, which exploits the IMU’s and VLP’s estimates to derive the coordinates of the UE. Finally, the performance of the proposed system is verified by experiments.