Influence of the aperture-based receiver orientation on RSS-based VLP performance

Recently, a compact receiver structure, containing a set of apertures and photo diodes (PDs) that are arranged to offer good angular diversity, was proposed for visible light communication [1]. In [2], this receiver structure was considered for visual light positioning (VLP), where the positioning accuracy for direct estimation of the position was evaluated using the Cramer-Rao Lower bound. However, it was assumed that the receiver is parallel to the ceiling, an assumption that is not realistic in practice. Therefore, in this paper, we extend the results of [2] to include the orientation of the receiver in the performance evaluation. The results show that, provided that the receiver knows its orientation, a rotation of the receiver has essentially no effect on the performance. Further, as long as sufficient LEDs are within the field-of-view of the receiver, the performance degradation will be small. This will be the case for a wide range of tilt angles. Hence, we can conclude that centimetre accuracy can be obtained for a wide range of receiver orientations.