In this paper, theoretical limits and estimators are studied for synchronous and asynchronous visible light positioning (VLP) systems. Specifically, the Cramér-Rao lower bounds (CRLBs) and maximum likelihood estimators are investigated for distance estimation based on time-of-arrival (TOA) and/or received signal strength (RSS) parameters. Hybrid TOA/RSS-based distance estimation is proposed for VLP systems, and its CRLB is compared analytically against the CRLBs of TOA-based and RSS-based distance estimation. In addition, to investigate the effects of sampling, asymptotic performance results are obtained under sampling rate limitations as the noise variance converges to zero. A modified hybrid TOA/RSS-based distance estimator is proposed to provide performance improvements in the presence of sampling rate limitations. Numerical examples are presented to illustrate the theoretical results.
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Keskin et al. (2015) studied this question.
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