Fig. 1. Indoor visible light communication model diagram

Fig. 2. System LOS channel model

Fig. 3. Receiving end and surface to be measured

Fig. 4. Coordinates of different light sources

Fig. 5. Illuminance and mean of Cramer-Rao bound on surface to be measured at coordinate of different light sources

Fig. 6. Positioning errors of Cramer-Rao bound and Gauss-Newton iterative algorithms for different test points. (a) (-2.5 m,-2.5 m); (b) (-2.0 m,-2.0 m); (c) (-1.0 m,-1.0 m); (d) (0,0)

Fig. 7. Relationship between RSS and actual distance

Fig. 8. Average positioning errors of two algorithms at different K values

Fig. 9. Comparison of average positioning errors of three different algorithms under different signal-to-noise ratios

Fig. 10. Comparison of cumulative distribution probability of three algorithms at K=3