Aiming at the problem that indoor visible light positioning(VLP) generally requires multiple light emitting diode (LED) beacons, a high robustness three-dimensional VLP system based on a single LED beacon and a single complementary metal oxide semiconductor(CMOS) sensor is proposed. A modulable LED beacon with mark on the edge is used as transmitter, CMOS sensors as receiver for VLP systems and the collected image is regarded as an ellipse with geometric features. Perform feature extraction and demodulation of the elliptical light spot on the acquired image to identify predetermined information, and the undetermined position is solved by combining the monocular ranging and the angle of arrival(AOA) algorithm. The performance of the proposed VLP system is evaluated by experiments. The average positioning accuracy is 9.7 cm in the region of 1.8 m×1.8 m×2 m, and the positioning error of 13.1 cm with 80% confidence can be achieved.