Over 8ksps Ultra Fast 3D Visible Light Positioning Based on Photodiodes

Higher positioning rate means safer automatic driving, more authentic virtual reality experience, more stable drones, and more efficient robotics in intelligent factories. To achieve this goal, low-complexity algorithm and low-latency hardware are indispensable. In this paper, we propose a novel 3D visible light positioning algorithm based on angle of arrival (AOA). We apply two light-emitting diodes as transmitters and a photodiode array as a receiver. The algorithm can express, in closed form, the 3D coordinates and the azimuth of the receiver with respect to the AOAs, enabling the algorithm to have the lowest complexity. Furthermore, We derive the asymptotic probability distribution functions of the estimated coordinates, making it possible to evaluate the error pattern at different positions. Finally, we design and implement the positioning system with a field programmable gate array and achieve an ultra high positioning speed of over $\mathbf{8 k}$ samples per second with the average positioning error less than $\mathbf{6 m}$.