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We propose a new indoor positioning system utilizing visible light communication. Intensity modulation/direct detection and carrier allocation methods are utilized in the proposed system. Simultaneous three channel transmissions were applied to calculate the receiver's position. The characteristics of the proposed positioning system were investigated through simulation based on the experimental results, and the feasibility of the proposed system was verified by experimentation. The experimental result shows that the average error of estimated positions is reduced to 2.4 cm using adjustment process by normalizing method, which is compared with 141.1 cm without adjustment process.