Fig. 1. Visible light positioning system model and receiver structure

Fig. 2. Error distribution of two location algorithms

Fig. 3. Symmetry of two possible solutions in multiple lights scene

Fig. 4. Schematic diagram of auxiliary positioning

Fig. 5. Location error distribution of two light sources

Fig. 6. The change of positioning error with α

Fig. 7. Schematic diagram of regional division

Fig. 8. Distribution of indoor fairness function

Fig. 9. Influence of environmental parameters on positioning error

Fig. 10. Plane error distribution of adaptive localization algorithm

Fig. 11. Comparison of cumulative error distribution

Fig. 12. Positioning system model

Fig. 13. Experimental device

Fig. 14. Location error distribution of several algorithms in experimental environment

Fig. 15. Experimental results of adaptive localization algorithm