“…Most research reported on VLP has focused on the investigation of geometrical properties using triangulation/trilateration, fingerprinting, or proximity methods to determine the transmission distance based on establishing a one-to-one relationship between the target location and its received signal strength (RSS). In such works, the analyses were based on the intensity modulation, angle of arrival [ 9 ], time of arrival [ 10 ], time difference of arrival [ 14 ], time of flight (TOF), and direct detection. In VLP systems, linear least square (LLS) or non-linear least square (NLLS) algorithms are often used for the position estimation [ 15 , 16 , 17 ].…”