Research and Implementation of Indoor 3D Positioning Algorithm Based on LED Visible Light Communication and Corresponding Parameter Estimation

Table 1

Errors of the coordinates’ positioning under different steps of 5 actual positions.

Actual location	(88, 66)	(45, 55)	(52, 83)	(20, 50)	(49, 7)
Estimate position and error
Step
M = 1	(88, 66)	(45, 55)	(52, 83)	(20, 50)	(49, 7)
	0	0	0	0	0
M = 2	(88, 66)	(44, 54)	(52, 84)	(20, 50)	(48, 6)
	0	1.4142	1	0	1.4142
M = 3	(87, 66)	(45, 54)	(51, 84)	(21, 51)	(48, 6)
	1	1	1.4142	1.4142	1.4142
M = 4	(88, 64)	(44, 56)	(52, 84)	(20, 52)	(48, 8)
	2	1.4142	1	2	1.4142
M = 5	(90, 65)	(45, 55)	(50, 85)	(20, 50)	(50, 5)
	2.2361	0	2.8284	0	2.2361
M = 6	(90, 66)	(48 ,54)	(54, 84)	(18, 48)	(48, 6)
	2	3.1623	2.2361	2.8284	1.4142
M = 7	(91, 63)	(42, 56)	(49, 84)	(21, 49)	(49, 7)
	4.2426	3.1623	3.1623	1.4142	0
M = 8	(88, 64)	(48, 56)	(56, 80)	(24, 48)	(48, 8)
	2	3.1623	5	4.4721	1.4142
M = 9	(90, 63)	(45, 54)	(54, 81)	(18, 54)	(45,9)
	3.6056	1	2.8284	4.4721	4.4721
M = 10	(90, 70)	(50, 60)	(50, 80)	(20, 50)	(50, 10)
	4.4721	7.0711	3.6056	0	3.1623