ing at the problem of low indoor visible light positioning accuracy, a positioning algorithm based on the received signal strength and arrival angle (RSS/AOA) information in indoor three-dimensional space is proposed. Based on the least squares (LS) criterion, the distance and angle are considered at the same time, a novel hybrid objective function is constructed, and then the least square estimator of location information is derived. For the non-convex objective function, the objective function is transformed into generalized trust region sub-problem (GTRS) to solve the global optimal solution. The simulation results show that in the 5 m×5 m×3 m two-dimensional positioning space, 20×20 test points are selected, for which the average positioning error is 8.7 cm. In addition, it can realize dynamic positioning and tracking in the three-dimensional space. The results show that the algorithm can obtain high accuracy in horizontal and vertical directions.