With the advancement of the emerging fields of sensor networks, intelligent buildings and the Internet of Things, we are witnessing many activities in the design of indoor positioning systems. In indoor environments such as big malls, airports, hospitals, and so on, satellite signals have been extremely weakened, therefor, these signals lose their efficiency to be used for indoor positioning. In such cases, the use of conventional methods, such as the Global Positioning System, is not possible or less accurate. Recently, using communications infrastructures for indoor positioning has drawn a lot of attention. Current indoor positioning systems, such as radio-based or sound-based systems, have always faced challenges due to their long response time, low precision and high cost. Therefore, visible light communications (VLC) has emerged as an alternative technology for indoor positioning systems, which has advantages such as low implementation cost, high response time and high accuracy. Using VLC, both the photodiode and the image sensor could be used as the receiver. Image sensor based receivers are already available in smart devices and compare to the photodiode based receivers have advantages such as less cost, more accessible, and less complexity. In this thesis, the design and simulation of an indoor positioning system based on visible light communications using imaging sensor have been investigated. The location is estimated using the view angle between LEDs’ s images, which leads to a single objective optimization problem. We propose the imperialistic competitive algorithm, which is an evolutionary method of minimizing the error function, to estimate the location more accurately. This method is simulated and in a 2×2×2 room, the root mean square error of about 2.5 cm has been obtained using 6 LEDs. In this dissertation, the effects of the camera parameters including image sensor resolution, lens distortion, and field of view as well as number of LEDs on the performance of indoor positioning system have been investigated. In the end, in order to verify the proposed system, an experimental setup has been developed and the results have been compared with the simulation results. Key words: Indoor positioning system, Visible light communications, Image sensor.