Tilted receiver angle error compensated indoor positioning system based on visible light communication

In a positioning system based on visible light communication, significant error occurs in localisation when the receiver has a tilt angle. The performance of the positioning system, which uses received signal strength and trilateration when Rx is tilted, has been researched and it is demonstrated that the estimated location changes in the same direction that the Rx is tilted and the shape of the estimated position is bent, theoretically and experimentally. The bent shape and error in an estimated position were compensated for by the multiplying weighting factor and by shifting the estimated position, respectively.