Planar positioning bias due to transmitter and receiver tilting in RSS-based ranging VLP

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...