文章针对可见光定位(VLP)系统提出了一种新颖的非线性摄像机辅助的接收信号强度(nCA-RSS)算法。nCA-RSS算法的基本思想是，同时利用摄像机和光电二极管(PD)分别捕获视觉和强度信息，实现高覆盖和高精度定位。首先，基于单视图几何理论，nCA-RSS算法利用视觉信息来估计可见光的入射角；然后，基于估计的入射角，nCA-RSS算法利用强度信息来确定接收器位置。由于使用了视觉信息，nCA-RSS算法对接收器方向不再限制。此外，基于Levenberg-Marquardt算法，nCA-RSS算法仅使用3个发光二极管(LED)即可实现三维(3D)定位。因此，与透视n点算法相比，nCA-RSS实现了更高的覆盖率。仿真结果表明，在80%以上的室内区域，无论接收器方向如何，nCA-RSS算法对于80%以上的样本可以实现约2.5 cm的定位精度。

This paper proposes a novel Non-linear Camera Assisted-Received Signal Strength (nCA-RSS) algorithm. The basic idea of nCA-RSS is to simultaneously utilize camera and Photo-Diode (PD) to capture visual information and signal strength information to achieve both high coverage and accurate positioning. First, based on single-view geometry theorem, nCA-RSS algorithm estimates incidence angle of visible light based on visual information. Then, based on the estimated incidence angle, nCA-RSS algorithm utilizes signal strength to determine the location of the receiver. Due to the use of visual information, nCA-RSS no longer has orientation limitations. Based on Levenberg-Marquardt, nCA-RSS can use three Light Emitting Diode (LED) to achieve precise 3-Dimensional (3D) positioning. Therefore, compared with perspective n point algorithm, nCA-RSS can achieve high coverage. Simulation results show that nCA-RSS can achieve 80^th percentile accuracies of less than 2.5 cm for positioning regardless of the orientation of the receiver.