Indoor visible light three-dimensional positioning system and method based on direction of receiver

The invention provides an indoor visible light three-dimensional positioning system and method based on the direction of a receiver. The system comprises a downlink receiving module, a downlink sending module, an uplink receiving module and an uplink sending module which are based on visible light communication. The downlink sending module comprises a downlink sending FPGA, a driving circuit and a white light LED; the downlink receiving module comprises a sensor and a downlink receiving FPGA; the uplink sending module comprises an uplink sending FPGA, a driving circuit and an infrared LED; the uplink receiving module comprises an infrared receiving module and an uplink receiving FPGA. Under the environment that one LED exists in a room, the downlink receiving FPGA can be used for accurate positioning by the utilization of the direction of the receiver, the azimuth angle of incident light and the intensity of light received by the receiver and through a three-dimensional dynamic positioning algorithm. The posi