Fig. 1. Architecture of localization method

Fig. 2. Acquisition method of LED image

Fig. 3. Captured images by rolling shutter camera

Fig. 4. Model of positioning system for indoor VLC

Fig. 5. Positioning method within starting LED area

Fig. 6. Positioning method within non-starting LED area

Fig. 7. Positioning principle of PDR

Fig. 8. Principle of cadence detection

Fig. 9. Flow chart of VLC/IPDR indoor position

Fig. 10. Schematic diagram of VLC system positioning accuracy

Fig. 11. Schematic diagram of the test site

Fig. 12. Comparison of positioning results

Fig. 13. Comparison of cumulative errors of VLC/IPDR and WiFi /PDR positioning methods