Abstract: Visible light positioning (VLP) based on mobile phone not only has high positioning accuracy, but also has advantages of visible light communication and mobile internet. Due to high computational complexity of image processing, most existing system can not support real-time navigation because of its low positioning speed. A fast indoor VLP system with high accuracy is proposed in this paper. Positioning latency is reduced by designing elaborate flicker-free line coding scheme and lightweight image processing algorithm. In addition, this system has advantage of supporting flicker mitigation and dimming, which are important for illumination. Android-based system prototype has been developed for field tests on an off-the-shelf smartphone. Experimental results show that it can achieve high accuracy of 7.5 cm, and positioning time is reduced to 22.7 ms for single-luminaire and to 35.7 ms for dual-luminaries respectively. In addition, it supports real-time indoor navigation for users moving at a speed of up to 18 km/h.