In order to realize the high precision positioning of the mobile robot, a new hybrid positioning algorithm based on VLC was established, the theoretical analysis and experimental verification were investigated. First, according to the advantages and disadvantages of the traditional RSS position algorithm and AOA position algorithm, the RSS algorithm was improved in the paper. Using the relationship between the signal strength and the angle rather than the distance, a hybrid positioning algorithm model was obtained. Then the positioning algorithm was analyzed theoretically in the actual implementation process mainly from the angle of measurement in order to achieve the target parameters. The feasibility of the algorithm was verified by the experiment and the measurement data was obtained. Finally, the experimental data was analyzed to observe the positioning accuracy. The experimental results show that the localization accuracy of the proposed experiment is 6.11 cm, which is less than 10 cm. Besides, compared with the other two kinds of positioning algorithm, the algorithm had high precision, low cost and high feasibility.