“…Six LEDs are located in A (0.15,0.15,0.6), B (0.15,0.55,0.6), C (0.15,0.95,0.6), D (0.95,0.15,0.6), E (0.95,0.55,0.6) and F (0.95,0.95,0.6). LED-ID [12][13][14] technology is used in positioning systems to enable the receiver to distinguish signal strength from different LEDs. In the real environment, the LEDs send the signal with a certain duty cycle, which is received by the photodetector.…”