With the advent of IoT era, the demand for position information is increasing constantly. In outdoor cases, satellite navigation solution like Global Positioning System (GPS) is well established and has been widely used. In indoor cases, there are positioning solutions like Wi-Fi, BLE, etc., but their respective defects have limited the practical development. Visible light positioning (VLP) has been a more promising positioning method in indoor cases because of its high accuracy, high cost efficiency, and easy to accomplish compared to other indoor positioning technologies. However, some drawbacks should be overcome during the application of VLP: VLP cannot work when optical signal is blocked or limited by the layout of LEDs, and the positioning accuracy will decrease when multipath reflection is not negligible. In order to solve the two problems, we propose an integrated positioning system based on an unscented Kalman filter, which can integrate the VLP and the inertial navigation data. Miniaturized, mobile and wearable design ensures the system can be easily used in a wide range of application. Experiment results indicate that the accuracy of the system reaches centimeter order, which is better than that of the VLP or inertial navigation alone. The integrated positioning system can provide a more stable, more accurate positioning service with low cost, which makes it a promising candidate for future consumer and industrial indoor positioning applications.