Fig. 1. Positioning process of positioning system

Fig. 2. Diagram of RSSI localization process

Fig. 3. Flowchart of flower pollination algorithm

Fig. 4. Comparison of indoor power distributions of visible light. (a) Power of grid arrangement; (b) power of four light source layout

Fig. 5. Comparison of location results of algorithms. (a)Least squares error; (b) RSSI algorithm based on FPA; (c) RSSI algorithm based on PSO; (d) RSSI algorithm based on improved FPA

Fig. 6. Error broken lines of error values of algorithms. (a) Error broken lines of proposed algorithm and PSO-based RSSI algorithm; (b) error broken lines of FPA based RSSI algorithm and LMS

Fig. 7. Broken lines of average errors of algorithms

Fig. 8. Convergence velocity contrast

Fig. 9. Positioning time comparison

Fig. 10. Simulation results of algorithms with nine-lamp arrangement. (a) Proposed algorithm; (b) RSSI algorithm based on FPA