Aimed at some limitations of current indoor localization algorithm wi th low accuracy and complex implementation,an indoor visible light positioning method is proposed i n this paper by using white lighting LEDs.In this method,the position terminal receives pilot signal s transmitted by various LEDs so that the time difference of arrival (TDOA) of these signals can be estim ated,thereby the differences of transmission distance between the terminal and LEDs are obtained to construct a distance estimate objective function.By utilizing a nonlinear programming algorithm with constraints,the position coordinates of the terminal can be obtained.It effectively solves the problem o f divergence as well as large deviation in the case that conventional TDOA algorithm is used in indoor n oisy environments. Meanwhile,the transmission distance information as a weighted factor is introdu ced in the positioning called centroid weighted localization algorithm in order to optimize the positio ning results further.The performance of the proposed localization method is evaluated in the room measuri ng 5m×5m×3m by simulation with the effect of noise.The simulation results show that the object ive function method can achieve a high estimation accuracy of 5cm in average with SNR=2dB,and the avera ge localization error of the centroid weighted algorithm is only 3cm,which effe ctively improves the indoor positioning precision and universality of application and system robustness.