State-of-the-art optical wireless positioning (OWP) commonly reaches centimeter-level accuracy by depending on dense multi-light-emitting diodes (LED) infrastructures, photodiode (PD) arrays, or image-sensor receivers, incurring hardware complexity and deployment cost. This paper introduces a single beam-steered LED, single-PD OWP architecture that achieves three-dimensional (3D) localization without receiver rotation, cameras, or PD arrays; the core idea is to steer the transmitter through K known orientations and exploit the resulting received-signal-strength variations at the PD to estimate LED-to-PD direction and distance. We derive a composite Cramer-Rao lower bound and position-error bound (PEB) for the joint observation model, and cast the steering-pattern design as a genetic algorithm that minimizes the PEB over a 3D testbed. We develop both model-based a constrained nonlinear estimator and closed-form direction estimators: a statistically efficient generalized least squares solution, and a lightweight weighted least squares approximation. Simulations demonstrate centimeter-level accuracy for 3D OWP with a single beam-steered LED and a single PD.

翻译：最先进的光学无线定位（OWP）通常通过依赖密集的多发光二极管（LED）基础设施、光电探测器（PD）阵列或图像传感器接收器来实现厘米级精度，这带来了硬件复杂性和部署成本。本文介绍了一种单光束导向LED、单PD的OWP架构，该架构无需接收器旋转、摄像头或PD阵列即可实现三维（3D）定位；其核心思想是通过K个已知方向引导发射器，并利用PD处产生的接收信号强度变化来估计LED到PD的方向和距离。我们推导了联合观测模型的复合克拉美-罗下界和位置误差界（PEB），并将引导模式设计转化为遗传算法，该算法在3D测试平台上最小化PEB。我们开发了基于模型的约束非线性估计器和闭式方向估计器：一种统计高效的广义最小二乘解，以及一种轻量级加权最小二乘近似。仿真结果表明，使用单个光束导向LED和单个PD，3D OWP可实现厘米级精度。