In this communication revolution era, visible light communication (VLC) is the optimum efficacious answer to the increased request for high-speed data transmission with reduced cost, besides the illumination. This technology is considered the best promising candidate for indoor positioning due to its ability to attain higher positioning accuracy than other technologies, alongside its distinct advantages. However, the existing techniques that had been applied in an indoor positioning system (IPS) based on VLC focused on the aspect of accuracy but neglected the aspects of cost and complexity. This paper proposes a new technique for positioning, namely complementary and supplementary angles based on received signal strength (CSA-RSS). The positioning error performance of the system is examined based on the single light-emitting diode (LED) and different positions of the photodiode (PD). The results demonstrate the improved accuracy and prove the effectiveness of the newly proposed technique where the average error is 3.2 cm in 80% of the examined positions and the maximum average positioning error is 4.2 cm. Moreover, the proposed approach has been proven to increase system efficiency which acts as a suitable VLC design for indoor positioning performance, avoiding weak signals