Visible light communication (VLC) is envisioned as an important technique for short-range communications, but its potential for user device (UD) localization is not fully exploited, which is challenging due to diffuse-scattering interference and random fading. In this paper, we focus on the 6 degree-of-freedom (DoF) UD state estimation (i.e., 3D location and 3D pose angles) based on VLC. Specifically, a novel successive convex approximation (SCA)-based optimization algorithm is proposed, where UD location, pose angles and channel state are simultaneously estimated. Thus, the disturbance of random fading and diffusescattering interference for UD localization is alleviated via VLCassisted channel equalization, and hence our SCA-based 6-DoF state detection solution outperforms state-of-the-art baselines. In addition, a unified performance analysis framework is established for VLC-based 6-DoF state detection, and structured information models are exploited for tractable performance quantification. A closed-form Cramer-Rao lower bound on UD localization error and pose angle estimate error is established respectively, and the impact of measurement noise, scattering interference, bandwidth, the quantities of photodiodes and light-emitting-diodes, etc, on the VLC-based UD state detection performance is analysed. Our closed-form analysis cannot only shed lights on the performance limits of VLC-based 6D state detection, but also gain insights into the impact of system configuration and fading environments.