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Effects of cooperation on visible light positioning

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Fig. 1. Cooperative VLP system.
Fig. 2. VLP network configuration in the simulations. Each VLC unit contains two PDs and one LED
Fig. 3. Individual CRLBs for localization of VLC units in both noncooperative and cooperative cases with respect to the transmit power of LEDs on ceiling, where the transmit power of VLC units is taken as 1W.

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