Abstract
In this work, a set of general expressions treating both transmitter and receiver tilt in received signal strength based visible light positioning is elaborated. A meticulous approach involving Euler rotations leads to a compact expression for the modified channel gain that can be interpreted graphically. It is demonstrated that ignoring even small tilt angles can easily result in a bias of the planar positioning estimation in the order of several tens of centimeters in realistic settings. As a result, it is important to take into account the receiver and transmitter tilt for obtaining highly accurate indoor localization by means of received signal strength based visible light positioning. Based on the modified channel gain, a simple and accurate rule-of-thumb is formulated, allowing to determine the worst-case planar position errors when tilting angles are ignored.
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