Evaluation of the accuracy and precision of orientation determination in an indoor positioning system using infrastructure illumination and PSD sensors

In indoor localization there are applications in which the orientation of the agent to be located is as important as knowing the position. In this paper we present the results of the orientation estimation from a Local Positioning System based on Position Sensitive Device (PSD) sensors and the visible light emitted from the illumination of the room in which it is located. The orientation estimation will require that the PSD sensor receives signal from 2 light sources simultaneously. As will be shown in the article, the error determining the rotation angle of the agent with the on-board sensor is less than 0.2 degrees. The accuracy of the measurement has been evaluated experimentally in a 2.5 m high ceiling room over an area of 2.2 m² using geodetic measurement tools to establish the reference ground truth values.