6-Dimensional Location-and-Pose Detection Based on Visible Light Communications: The Impact of Diffuse-Scattering Environments

We focus on the 6D location-and-pose state estimate of user device (UD) based on visible light communication (VLC), and we aim to provide a unified performance analysis framework for VLC-enabled UD state sensing, which is of great challenge due to complex diffuse-scattering models. The impact of fading environments is not understood as well. To address this challenge, we exploit structured information models for tractable performance quantification. Firstly, a closed-form Cramer-Rao lower bound on UD localization error and pose angle estimate error is respectively established, and the impact of fading environments (e.g., diffuse scattering and channel correlation) on the VLC-based UD state detection performance is analysed. Our closed-form performance analysis cannot only shed lights on the performance limits of VLC-based 6D state detection, but also gain insights into how channel fading on UD state detection.