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技术通常依赖于密集的多发光二极管基础设施、光电二极管阵列或图像传感器接收器，以达到厘米级精度，但存在硬件复杂性和部署成本高的问题。本文提出了一种使用单个光束控制LED和单个PD的光学无线定位架构，无需接收器旋转、摄像头或PD阵列，即可实现三维空间定位。其核心思想是通过控制发射器在K个已知方向上进行光束扫描，利用光电二极管接收信号强度的变化来估计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，并将扫描模式设计问题转化为基于遗传算法的优化问题，以在三维测试平台上最小化位置误差界。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和一种轻量级加权最小二乘近似方法。仿真结果表明，使用单个光束控制LED和单个PD即可实现厘米级精度的三维光学无线定位。