An interacting multiple model based on unscented Kalman filter (IMM-UKF) is widely applied to positioning and tracking targets in various tracking scenarios. At the same time, visible light positioning (VLP) is developing rapidly due to the low cost and accuracy. Therefore, indoor positioning and tracking based on VLP combined with the IMM-UKF has attracted considerable interest. However, existing algorithms work on the assumption that the light-emitting diodes used for tracking are all point light sources, which ignores the geometry of these transmitters and results in low tracking accuracy. To overcome this problem, this paper proposes an innovative tracking algorithm based on VLP. This algorithm considers the shapes of the lights in combination with existing tracking algorithms, such as IMM-UKF. Simulation results show that in a standard Gaussian noise environment, the larger the transmitter is, the more meaningful the proposed algorithm is.

中文翻译：

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非点可见光发射器下的高精度定位方案

基于无味卡尔曼滤波器（IMM-UKF）的交互多重模型被广泛应用于各种跟踪场景中的目标定位和跟踪。同时，由于低成本和高准确性，可见光定位（VLP）正在迅速发展。因此，基于VLP结合IMM-UKF的室内定位和跟踪已经引起了广泛的关注。但是，现有算法在假设用于跟踪的发光二极管都是点光源的前提下工作，这忽略了这些发射器的几何形状并导致跟踪精度低。为了克服这个问题，本文提出了一种基于VLP的创新跟踪算法。该算法结合现有的跟踪算法（例如IMM-UKF）考虑灯光的形状。