This paper provides a comprehensive survey of Visible Light Positioning (VLP) systems, covering their fundamentals, applications, and challenges. VLP leverages Visible Light Communication (VLC) using light-emitting diodes (LEDs) for indoor positioning, offering high accuracy and low cost. The paper first reviews the principles of VLC, then explores VLP algorithms, comparing their performance in terms of accuracy, coverage, and orientation limitations. It also investigates network design aspects, including multi-access technologies, resource allocation, and LED placement. Applications of VLP are discussed, along with open issues and future research directions. The paper highlights the potential of VLP as a secure, cost-effective solution for indoor positioning, particularly in environments where electromagnetic interference is a concern. It also addresses the integration of VLP with other technologies to enhance accuracy and practicality. The survey covers various VLP algorithms, including proximity, TOA/TDOA, AOA, RSS, fingerprinting, and hybrid methods, discussing their strengths and limitations. The paper emphasizes the importance of network design and the need for further research to address challenges in VLP systems. Overall, this survey provides a holistic overview of VLP, from state-of-the-art research to practical applications.This paper provides a comprehensive survey of Visible Light Positioning (VLP) systems, covering their fundamentals, applications, and challenges. VLP leverages Visible Light Communication (VLC) using light-emitting diodes (LEDs) for indoor positioning, offering high accuracy and low cost. The paper first reviews the principles of VLC, then explores VLP algorithms, comparing their performance in terms of accuracy, coverage, and orientation limitations. It also investigates network design aspects, including multi-access technologies, resource allocation, and LED placement. Applications of VLP are discussed, along with open issues and future research directions. The paper highlights the potential of VLP as a secure, cost-effective solution for indoor positioning, particularly in environments where electromagnetic interference is a concern. It also addresses the integration of VLP with other technologies to enhance accuracy and practicality. The survey covers various VLP algorithms, including proximity, TOA/TDOA, AOA, RSS, fingerprinting, and hybrid methods, discussing their strengths and limitations. The paper emphasizes the importance of network design and the need for further research to address challenges in VLP systems. Overall, this survey provides a holistic overview of VLP, from state-of-the-art research to practical applications.