LiFi-based Indoor Localization for Mobile Robots
Siddharth Gupta Dr. Rajalakshmi S
School of Electronics and School of Electronics Engineering
Communication Engineering Vellore Institute of Technology
Vellore Institute of Technology Vellore, Tamil Nadu 632014
Vellore, Tamil Nadu 632014 Email: srajlakshmi@vit.ac.in
Email:siddharthupta21092002@gmail.com
1. Abstract
In the article, the researchers aimed to demonstrate the
performance of LiFi-based environments through simula-
tion. They used LiFi, a communication technology that
utilizes light to wirelessly transmit data, and conducted
their experiments in indoor settings, which are common
environments for mobile robots, such as hospitals, museums,
and airports.
To evaluate the performance of their proposed method, the
researchers prepared a mathematical time series model of
the Non-Return-to-Zero On-Off Keying (NRZ-OOK) mod-
ulation and optical power distribution using MATLAB, a
widely-used programming language for mathematical simu-
lations.
For their experiments, the researchers installed a white LED
light with a wavelength of 750nm as the emitter in the LiFi
system. They utilized the Optisystem software for simu-
lation, comparing scenarios with and without illumination
to assess the system’s performance under different lighting
conditions.
Under ideal conditions, with no interference or noise, the
LiFi system achieved impressive results.100m link was able
to reach a maximum speed of 10 Gbps (Gigabits per second)
with a very low Bit Error Rate (BER) of 5.15585 × 1011,
indicating highly reliable data transmission capabilities.
Additionally, the article introduced a proposed scheme that
offered a high Q factor (a measure of optical communication
system quality) and low BER for Visible Light Communi-
cation (VLC) systems, even in brightly lit conditions.
The researchers’ findings and proposed scheme suggest that
LiFi-based environments hold promise for indoor applica-
tions, providing high-speed data transmission and robust
performance, making them suitable for various real-world
applications.
2. Introduction
It will show that LiFi can still route VLC to wireless
networks using entirely light emitting diodes (LEDs). As
fixtures evolve into LiFi attocells, the integration is being
used to enhance wireless capabilities for fifth-generation
Rishith Roy
School of Electronics and
Communication Engineering
Vellore Institute of Technology
Vellore, Tamil Nadu 632014
Email:rishith.roy2020@vitstudent.ac.in
cellular systems (5G) and beyond, provide the connectivity
needed to enable the Internet of Things, and contribute to
key metrics. It covers all the important research, from LiFi
components to hybrid LiFi/Wireless Fidelity (WiFi) net-
works, to explain that LiFi attocell is no longer a theoretical
concept, but is at the eighth level of application.
In this paper, we study indoor communications using the
Optisystem simulation tool to measure the channel charac-
teristics of white LEDs. The performance of visible light
communications is evaluated by graphing and logarithm
of the appropriate BER value for various bit rates and
connections.
White LEDs are used for communication, and NRZ-OOK
and RZ-OOK modulation models are examined. Measure-
ment terms – free space optics (FSO), modulation, NRZ-
OOK, RZ-OOK, visual communication (VLC), white light
emitting diode (WLED).
New communication technologies are constantly being de-
veloped to meet the needs of many users, such as high data
rate, low power consumption, low latency, low trust and
a large amount of equipment. In order to meet all these
needs, fifth generation (5G) wireless access technology has
been expanded to include many new services. However, the
number of radio frequency (RF)-based wireless networks
that follow the 5G vision is still limited. Potential interfer-
ence and security issues in air communications pose serious
challenges to deployment. Light Source (LiFi) turns each
reading light into a passive access point (AP), providing
seamless connectivity in dense environments without inter-
ference from RF.
LiFi is networked and has two wireless communication
methods with light. It uses the visible and infrared spec-
trum to connect fixed and mobile devices at high speed.
Together, these spectrum sources are 2,600 times greater
than the entire radio frequency (RF) spectrum. This article
explains why LiFi is today’s technology, especially for sixth
generation (6G) mobile communications.
Discusses and analyzes network technologies such as inter-
ference and converged LiFi/Wi-Fi network topologies. We
also discuss the integration of LiFi into existing wireless
networks, creating different networks in the optical and radio
frequency spectrum, and the balance of consequences and
solutions. Finally, we provide results from a real hybrid
LiFi/Wi-Fi network deployed in a software-defined network
test environment. Additionally, results from LiFi deployment
in the classroom are also presented and show that Wi-
Fi network performance can be greatly improved by LiFi
transport.
New communication methods are constantly being devel-
oped to meet the needs of many users, such as high data rate,
low power consumption, low latency, low latency, reliable
and versatility. To meet all these needs, fifth generation (5G)
wireless access technology has been expanded to include
many new services. Light source (LiFi) turns each light
source into an access point (AP), providing seamless con-
nectivity in busy areas without radio interference.
In this paper, we propose a new Monte Carlo ray tracing
(MCRT) channel simulation method to capture the details
of LiFi connections in flight. The effects of operating wave-
length, box model exposure, and user terminals on the
optical channel were also examined.
Because GPS cannot provide indoor location information,
indoor location using short-range communication technol-
ogy has become more popular than GPS. This document
describes the use of indoor location as a visual light commu-
nication system that provides indoor location with average
and sub-meter accuracy.
White LED should be used in new generation lighting
fixtures. Our laboratory operates an indoor communication
system using white LED lights. During the planning process,
this device can be used not only to illuminate the room, but
also in the optical wireless communication system.
This article discusses the structure of modulators and de-
modulators for free-field optical (FSO) communication. In 3. Objectives and formulation
FSO optics, modulated light propagates in a changing
medium (heat). This article focuses on examining suitable In Visible Light Communication (VLC) or LiFi setups,
models for FSOs. For this purpose, OOK-NRZ modulator data transfer occurs by modulating the visible light emitted
and demodulator were designed. from the light source, without being easily noticeable to
The growth of mobile devices has created problems for radio human observers. A typical LiFi network consists of two
frequency (RF) networks such as wireless fidelity (WiFi) main elements: the transmitter and the receiver.
networks. Based on the low-pass filter of LiFi channel, we To determine the location in a one-way configuration
first proposed frequency division access (OFDMA)-based for VLC systems, various techniques can be used. Some
resource allocation (RA) in LiFi system. of these techniques include time-of-flight based location,
In the EGT strategy, each user will adjust their strategy to trilateration-based location, and RSS (Received Signal
improve recovery until the LB is completed by LiFi and Strength) based location .
WiFi. Then, the LiFi system uses the proposed OFDMA- However, this article focuses on proximity-based localiza-
based RA method, while the WiFi system uses Carrier tion which is a cost-effective, fast, and powerful technique
Sense Multiple Access (CSMA/CA) with Collision De- suitable for low-cost devices and easy-to-operate systems
tection. Simulation results show that OFDMA-based RA that require performance-sensitive localization.
strategy in LiFi system is better than time division multiple In proximity-based VLC implementation, each light source
access (TDMA) strategy in terms of user data rate and is configured to display a string of symbols. The article
integrity. The EGT scheme for LB in HLWN can achieve mentions that NRZ-OOK (Non-Return-to-Zero On-Off Key-
significant improvement compared to baseline methods such ing) modulation is used due to its simplicity and efficient
as fixed scheme (HT) and random-access point allocation bandwidth usage. In NRZ-OOK modulation, a binary ”1”
(RAA) scheme. is transmitted by turning the LED ”ON,” and a binary ”0”
is transmitted by turning the LED ”OFF.” This modulation
scheme is efficient as it does not require energy to transmit
a ”0”.
On the receiver side, a photodiode detects the information
sent by the LED and outputs the signal, allowing the re-
ceiver’s position in the room to be estimated. This recording
process is well-suited for indoor environments. Addition-
ally, OOK modulation offers advantages such as faster data
transmission, higher signal-to-noise ratio, and lower Bit
Error Rate (BER) for short links [21]. This makes OOK
modulation an efficient choice for VLC systems, especially
in proximity-based implementations.
By using proximity-based localization and NRZ-OOK mod-
ulation in VLC systems, the article aims to create a low-
cost, efficient, and easily implementable solution for indoor
robot localization and data transfer. This technology could
be particularly useful for performance-critical applications
in indoor environments, offering a cost-effective alternative
to traditional localization techniques like GPS.

4. Requirements

In Visible Light Communication (VLC) or LiFi setups,

data transfer occurs by modulating the visible light emitted
from the light source, without being easily noticeable to
human observers. A typical LiFi network consists of two
main elements: the transmitter and the receiver. To determine
the location in a one-way configuration for VLC systems,
various techniques can be used. Some of these techniques
include time-of-flight based location, trilateration-based lo-
cation, and RSS (Received Signal Strength) based location
. However, this article focuses on proximity-based localiza-
tion which is a cost-effective, fast, and powerful technique
suitable for low-cost devices and easy-to-operate systems
that require performance-sensitive localization.
In proximity-based VLC implementation, each light source
is configured to display a string of symbols. The article
mentions that NRZ-OOK (Non-Return-to-Zero On-Off Key-
ing) modulation is used due to its simplicity and efficient
bandwidth usage. In NRZ-OOK modulation, a binary ”1”
is transmitted by turning the LED ”ON,” and a binary ”0”
is transmitted by turning the LED ”OFF.” This modulation
scheme is efficient as it does not require energy to transmit
a ”0”.
On the receiver side, a photodiode detects the informa-
tion sent by the LED and outputs the signal, allowing
the receiver’s position in the room to be estimated. This
recording process is well-suited for indoor environments.
Additionally, OOK modulation offers advantages such as
faster data transmission, higher signal-to-noise ratio, and
lower Bit Error Rate (BER) for short links [21]. This makes
OOK modulation an efficient choice for VLC systems,
especially in proximity-based implementations. By using
proximity-based localization and NRZ-OOK modulation in
VLC systems, the article aims to create a low-cost, effi-
cient, and easily implementable solution for indoor robot
localization and data transfer. This technology could be
particularly useful for performance-critical applications in
indoor environments, offering a cost-effective alternative to
traditional localization techniques like GPS.
5. Conclusion
In the study conducted using OptiSystem, the re-
searchers obtained plots for eye height, maximum Q factor,
and minimum Bit Error Rate (BER) for two scenarios: one
without ambient light noise and the other with ambient
light noise. These plots were likely generated based on
simulations of the LiFi system under different conditions.
The maximum Q factor is a measure of the quality of the
communication system and is calculated based on the signal-
to-noise ratio and the receiver’s sensitivity. A higher Q factor
indicates better performance and improved signal quality.
In the study, the researchers found that the maximum Q
factor for the proposed LiFi system was 6.24612 in the
absence of ambient light noise. However, in the presence
of ambient light noise, the maximum Q factor icreased
slightly to 6.47581. This reduction in the maximum Q factor
suggests that the system’s performance is impacted by the
presence of ambient light noise, leading to a slightly lower
overall quality.
The researchers also likely observed the minimum BER,
which indicates the error rate of the system. A lower BER
represents better performance, as it indicates fewer errors
in data transmission. However, the specific values of the
minimum BER for the two scenarios were not mentioned in
the provided information.
From the results shown in Table II, it can be deduced that
the proposed LiFi system performs slightly better without
ambient light noise, as indicated by the higher maximum
Q factor. However, when ambient light noise is present,
the system’s performance is slightly degraded, leading to
a reduced maximum Q factor.
Circuit : Without Noise

Circuit : With Noise

Figure 1. BER Aanalyser : Without Noise

Figure 5. Eye height : Without Noise

Figure 2. BER Aanalyser : With Noise

Figure 6. Eye height : With Noise

Figure 3. Q Factor : Without Noise

Figure 7. Eye Diagram : Without Noise

Figure 4. Q Factor : With Noise

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