Visible Light Positioning (VLP) uses modulated LED luminaries to help locate a receiver inside a building. Indoor positioning is becoming an increasingly important service, and visible light has many advantages over other technologies used in indoor positioning systems (IPS). However existing VLP approaches have major drawbacks in robustness that have hindered their ability to be commercially deployed. This work proposes and demonstrates a new way of using light signals in an indoor localization system, titled Angular Diversity Visible Light Positioning (AD-VLP). AD-VLP uses optics at the transmitter to create a structured overlapping light pattern that can be used for positioning. This method is shown to have several advantages over existing VLP approaches, including increased robustness over intensity based techniques while still using a single element receiver. This work also includes an experimental implementation of the proposed AD-VLP system using existing mobile device technology. The experiments prove that sub-meter accuracy is obtainable, even when the receiver is oriented away from the transmitter. / Thesis / Master of Applied Science (MASc)

Indoor positioning is an enabling technology primed to impact the indoor application space as Global Navigation Satellite Systems (GNSS) did for the outdoor space. Amongst the competing positioning technologies are methods of different mediums: light, radio frequency and ultra-wideband, ultrasonic, and imaging; methods of different modalities: received signal strength, angle-of-arrival, time-of-flight; and methods of different mathematics: trilateration, triangulation, machine learning, and signal processing. Light-based positioning compared to other positioning schemes exploits fixed-location directional luminaires placed regularly throughout a space as anchor points -- there is an efficiency argument for multi-purpose lighting and a cost-share argument for infrastructure-based positioning. Similar to the satellite infrastructure with GNSS, with anchor points and models for light propagation and construction, position is estimated based on received signals at active photodiode-equipped target devices. Received signal strength, a common first order attribute, alone is not noise resilient enough for centimeter-level 3D positioning. Methods using angle diversity produce better results particularly in 3D but with more complex hardware. For this dissertation, we exploit angle diversity and modulated optical sources in light-based positioning systems to estimate position to centimeter-level accuracy in 3D. We propose, analyze, and contribute two novel positioning schemes that use these concepts. One of the proposed schemes is a new hybrid 3D indoor positioning technique, Ray-Surface Positioning (RSP), which incorporates a narrow field-of-view (FOV) optical source (Ray) with wide diffuse optical sources (Surfaces) to position active devices in 3D. The second scheme, a Zone-based Positioning Service (ZPS), is a positioning scheme and architecture that incorporates an angle diverse narrow FOV optical source at the positioned device. This unique design decision allows the active device to position itself directly with respect to photovoltaic anchor points but also to position other devices in its FOV called transitive positioning. Along with these contributions, we also investigate several other related topics. Concisely, as part of the dissertation, we contribute (a) review of the state-of-the-art, (b) analysis for steering Lambertian sources, (c) method of creating angle diversity from a narrow FOV optical source, (d) novel positioning approaches in (1) RSP and (2) ZPS, (e) proof of concept prototypes for (1) RSP and (2) ZPS, and (f) architectures for indoor positioning applications.