We propose a new positioning system using visible LED lights and image sensor. GPS is widely used, but its measurement error gets dozens meters worse at indoor or urban canyon where radio wave is hard to reach. On the other hand, visible light can reach users easily since visible light devices are established at indoor and urban canyon. Our proposed system can determine the receiver's position where each LED in a lighting sends differential three dimensional space coordinate and image sensor can receive the signal. We show the availability of our proposed method by numerical analysis.