Indoor positioning method, indoor positioning apparatus and indoor positioning system

The system relates to an indoor positioning method, an indoor positioning apparatus and an indoor positioning system. The method comprises the steps of taking an indoor picture; acquiring characteristic information of an image of an LED light source according to the picture; taking at least preset number of communication images of the LED light source at a speed of a preset frame to acquire identification information uniquely corresponding to the LED light source; determining a position of a picture-taking spot in relative to the LED light source according to the characteristic information corresponding to the LED light source and an image-forming principle; determining an indoor position of the LED light source according to the identification information of the LED light source and an indoor layout diagram; and acquiring the indoor position of the picture-taking spot according to the indoor position of the LED light source and the position of the picture-taking spot in relative to the LED light source. Electromagnetic interference can be prevented because the indoor positioning method is in no need of installing wireless signal transmitting device. The indoor positioning system for realizing the indoor positioning method is simpler in structure and lower in cost.