INTRODUCTIONWith the continuous development of visible light communication technology, its high-speed, wide-bandwidth and no electromagnetic radiation characteristics have brought new opportunities for indoor navigation and positioning. Visible light communication can provide communication services in the electromagnetic constrained scenarios such as airplane, hospitals and mines, moreover, its high-precision navigation and positioning services bring a broad development. Currently, indoor positioning technology based on visible light communication can be divided into non-visual and visual positioning. Non-visual technology includes LED identification positioning [1] (LED-ID), time difference of arrival positioning [2] (TDOA), angle of arrival positioning [3] (AOA) and received signal strength positioning [4] (RSS). Two methods of visual positioning technology are proposed currently. One is the double image sensor positioning scheme which using more than 4 different colors of light to distinguish the optical signals [5] , the other positioning scheme is using the collinear relationship between multiple lamps with same sensor to get the terminal position [6] .In this paper, a double-visual-projection positioning method is proposed, which uses a photodiode (PD) array and the mobile terminal front camera as image sensor to image the LED lights. Due to the imaging principle of mobile terminal front camera and the space coordinates relationship between mobile terminals and LEDs which are different from traditional photogrammetry methods, mathematical model is not the same. Therefore, this paper put forward a collinear equation model suiting for indoor positioning with mobile terminal front camera, and a hardware-in-loop simulation has been conducted to verify the collinear equation.