摘要： Aiming at the problem of heavy preparation work and high cost of indoor positioning technology, this paper proposes (VLP)-assisted smartphone-based pedestrian dead reckoning (PDR) indoor positioning technology. This technology combines the advantages of both PDR and VLP algorithms for indoor positioning. During the pedestrian position calculation, the method of using the averaging of mode to process the heading angle data is creatively used, which improves the positioning accuracy and increases reliable operation time. At the same time, the two-level verification method consisting of cyclic redundancy check and range constraint is implemented for VLP, which uses a LED carrying a modulation code as a beacon for absolute position and the camera of smartphone to capture/decode the LED image to obtain the absolute position and periodically correct the position of the PDR positioning, thereby avoiding the accumulation of PDR positioning technology errors. The scope and reliability of PDR are demonstrated. Experiments show that this method is a kind of low-cost, high-robust, high-precision indoor positioning technology.