Visible light communication assisted single light source perspective round line indoor positioning method

The invention discloses a single-light-source perspective round line indoor positioning method assisted by visible light communication, and belongs to the field of communication networks. Firstly, a single circular LED is used as a transmitting end, the flicker frequency of the LED is modulated, and four coordinate systems are established in combination with information such as coordinates of the LED; a receiving end captures visible light information and LED and ceiling contour information at the same time by using a mobile phone camera, and extracts circular and parallel line visual information; then, on the basis of the space geometry theorem, the normal vector of the ceiling under the CCS is solved, and by establishing an auxiliary coordinate system, the coordinates of the LED center and the four vertexes of the ceiling under the CCS are solved through circular visual information; and finally, based on a single-view geometry theory, estimating the position and attitude of the receiving end according to a