Hybrid Position and Orientation Estimation for Visible Light Systems in the Presence of Prior Information on the Orientation

Visible light communication (VLC) is seen as a potential access option for fifth-generation (5G) wireless communication (Wang et al. , 2014) and (Ayyash et al. , 2016) and beyond 5G (Strinati et al. , 2019). A reliable VLC system benefits from an accurate estimate of the receiver's position and...

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Published in:	IEEE transactions on wireless communications Vol. 21; no. 8; pp. 6271 - 6284
Main Authors:	Shen, Shengqiang, Li, Shiyin, Steendam, Heidi
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.08.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	5G mobile communication Algorithms Approximation algorithms hybrid Cramér-Rao bound hybrid ML/MAP estimator Light emitting diodes Lower bounds Maximum likelihood estimation Maximum likelihood estimators Misalignment multiple LEDs and multiple PDs Optical communication Orientation Performance degradation Photodiodes position and orientation estimation prior information on the orientation Receivers Signal strength Tightness Uncertainty Visible light communication Visible light system Wireless communication Wireless communications
ISSN:	1536-1276, 1558-2248
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Abstract	Visible light communication (VLC) is seen as a potential access option for fifth-generation (5G) wireless communication (Wang et al. , 2014) and (Ayyash et al. , 2016) and beyond 5G (Strinati et al. , 2019). A reliable VLC system benefits from an accurate estimate of the receiver's position and orientation. In many cases, the orientation of the receiver is estimated with an external orientation estimation device. However, these devices generally suffer from drift and misalignment, causing an uncertainty in the orientation presented to the receiver. Hence, the external device can only provide a probability distribution of the orientation to the position estimator, which can be used as prior information for the position estimation. Since the orientation of a receiver greatly affects the performance of a visible light system, the orientation uncertainty will degrade the performance of standard positioning algorithms, implying it should be taken into account when designing a robust positioning algorithm. In this paper, we design an received signal strength (RSS)-based hybrid position and orientation estimation algorithm using the hybrid maximum likelihood (ML)/maximum a posteriori (MAP) (HyMM) principle for a multiple LEDs - multiple photodiodes (PDs) (MLMP) system to take into account the presence of prior information on the orientation. The proposed HyMM estimator is compared with three existing estimators, i.e., the simultaneous position and orientation (SPO) estimator, the misspecified maximum likelihood (MML) estimator and the first-order-approximation-based positioning algorithm, subject to the orientation uncertainty. Further, in order to analytically assess the performance of the proposed estimator, the theoretical lower bound on the mean squared error (MSE), i.e. the hybrid Cramér-Rao bound (HCRB) for HyMM is derived. Computer simulations show an asymptotic tightness between the performance of the estimator and its associated theoretical lower bound.
AbstractList	Visible light communication (VLC) is seen as a potential access option for fifth-generation (5G) wireless communication (Wang et al. , 2014) and (Ayyash et al. , 2016) and beyond 5G (Strinati et al. , 2019). A reliable VLC system benefits from an accurate estimate of the receiver’s position and orientation. In many cases, the orientation of the receiver is estimated with an external orientation estimation device. However, these devices generally suffer from drift and misalignment, causing an uncertainty in the orientation presented to the receiver. Hence, the external device can only provide a probability distribution of the orientation to the position estimator, which can be used as prior information for the position estimation. Since the orientation of a receiver greatly affects the performance of a visible light system, the orientation uncertainty will degrade the performance of standard positioning algorithms, implying it should be taken into account when designing a robust positioning algorithm. In this paper, we design an received signal strength (RSS)-based hybrid position and orientation estimation algorithm using the hybrid maximum likelihood (ML)/maximum a posteriori (MAP) (HyMM) principle for a multiple LEDs - multiple photodiodes (PDs) (MLMP) system to take into account the presence of prior information on the orientation. The proposed HyMM estimator is compared with three existing estimators, i.e., the simultaneous position and orientation (SPO) estimator, the misspecified maximum likelihood (MML) estimator and the first-order-approximation-based positioning algorithm, subject to the orientation uncertainty. Further, in order to analytically assess the performance of the proposed estimator, the theoretical lower bound on the mean squared error (MSE), i.e. the hybrid Cramér-Rao bound (HCRB) for HyMM is derived. Computer simulations show an asymptotic tightness between the performance of the estimator and its associated theoretical lower bound.
Author	Shen, Shengqiang Li, Shiyin Steendam, Heidi
Author_xml	– sequence: 1 givenname: Shengqiang orcidid: 0000-0002-1146-1713 surname: Shen fullname: Shen, Shengqiang email: shengqiang.shen@outlook.com organization: School of Information and Control Engineering, China University of Mining and Technology, Xuzhou, China – sequence: 2 givenname: Shiyin orcidid: 0000-0001-9635-7079 surname: Li fullname: Li, Shiyin email: lishiyin@cumt.edu.cn organization: School of Information and Control Engineering, China University of Mining and Technology, Xuzhou, China – sequence: 3 givenname: Heidi orcidid: 0000-0003-0667-3276 surname: Steendam fullname: Steendam, Heidi email: heidi.steendam@ugent.be organization: Telecommunications and Information Processing Department, Ghent University/IMEC, Ghent, Belgium
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SubjectTerms	5G mobile communication Algorithms Approximation algorithms hybrid Cramér-Rao bound hybrid ML/MAP estimator Light emitting diodes Lower bounds Maximum likelihood estimation Maximum likelihood estimators Misalignment multiple LEDs and multiple PDs Optical communication Orientation Performance degradation Photodiodes position and orientation estimation prior information on the orientation Receivers Signal strength Tightness Uncertainty Visible light communication Visible light system Wireless communication Wireless communications
Title	Hybrid Position and Orientation Estimation for Visible Light Systems in the Presence of Prior Information on the Orientation
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