  Visible light positioning (VLP) is widely believed to be a cost-effective
answer to the growing demanded for robot indoor positioning. Considering that
some extreme environments require robot to be equipped with a precise and
radiation-resistance indoor positioning system for doing difficult work, a
novel VLP system with high accuracy is proposed to realize the long-playing
inspection and intervention under radiation environment. The proposed system
with sufficient radiation-tolerance is critical for operational inspection,
maintenance and intervention tasks in nuclear facilities. Firstly, we designed
intelligent LED lamp with visible light communication (VLC) function to
dynamically create the indoor GPS tracking system. By installing the proposed
lamps that replace standard lighting in key locations in the nuclear power
plant, the proposed system can strengthen the safety of mobile robot and help
for efficient inspection in the large-scale field. Secondly, in order to
enhance the radiation-tolerance and multi-scenario of the proposed system, we
proposed a shielding protection method for the camera vertically installed on
the robot, which ensures that the image elements of the camera namely the
captured VLP information is not affected by radiation. Besides, with the
optimized visible light positioning algorithm based on dispersion calibration
method, the proposed VLP system can achieve an average positioning accuracy of
0.82cm and ensure that 90% positioning errors are less than 1.417cm. Therefore,
the proposed system not only has sufficient radiation-tolerance but achieve
state-of-the-art positioning accuracy in the visible light positioning field.
