###### Abstract  
In the evolving landscape of sixth-generation wireless communication, the integration of visible light communication (VLC) and visible light positioning (VLP), known as visible light positioning and communication (VLPC), emerges as a pivotal technology. This study addresses the challenges of asynchronous code division multiplexing (ACDM) in VLPC networks, focusing on the enhancement of data transmission quality and positioning accuracy. Firstly, we propose an orthogonal pseudo-random code (OPRC) for ACDM-based VLP systems. Leveraging its excellent correlation properties, VLP signals preserve orthogonality even amidst asynchronous transmissions, achieving sub-centimeter average positioning errors. Next, by combining OPRC with successive interference cancellation decoding (SICD), we propose an enhanced ACDM-based VLPC system that utilizes OPRC for improved signal orthogonality and SICD for progressive elimination of multiple access interference (MAI) among VLPC signals. The results show substantial improvements in bit-error rate (BER) and positioning error (PE), approaching the performance levels observed in synchronized VLPC systems. Specifically, the SICD-OPRC scheme reduces average BER to \(4.3\times 10^{-4}\) and average PE to \(2.7\) cm, demonstrating its robustness and superiority in complex asynchronous scenarios. visible light positioning (VLP); visible light positioning and communication (VLPC); successive interference cancellation decoding (SICD); asynchronous code division multiplexing (ACDM) IEEEexample:BSTcontrol  
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techniques. Two widely used methods for achieving this are time division multiplexing (TDM) and frequency division multiplexing (FDM). In TDM-based VLPC systems, the total time resource is divided into multiple time slots, allocating some for VLC and others (typically at least three for trilateration) for VLP [9; 10; 11]. However, this approach introduces latency for both VLC and VLP services and diminishes the efficiency of VLC transmission. Alternatively, in FDM-based VLPC systems, the available frequency spectrum is split into dedicated VLC and VLP sub-bands [12; 13; 14]. However, since the bandwidth of commercial LEDs is usually a few tens of MHz, VLP will limit the capacity of VLC, and additional guard bands for separating VLPC signals will reduce the spectral utilization. In addition, FDM-based solutions suffer from high out-of-band interference and peak-to-average power ratio, degrading the system performance [15]. Given these limitations, a hybrid heterogeneous signal extraction scheme was introduced to the VLPC system, where a low-pass complementary metal-oxide-semiconductor (CMOS) image sensor and a high-bandwidth photodetector (PD) are used to capture the low-speed VLP signals and high-speed VLC signals, respectively [16]. However, this will undoubtedly increase the hardware cost and system complexity. In [17], a new VLPC system is proposed, which uses the average energy of VLC signals combined with an artificial neural network (ANN) to predict the user's mobility path. However, this system requires the knowledge of the user's initial position, which limits its practicality. The idea of using average energy of VLC signals for positioning is also used in a VLPC system based on a solar cell array receiver [18], but the complex receiver array increases hardware costs, and the low bandwidth of solar cells restricts the communication rate. Recently, different approaches based on code division multiplexing (CDM) have been employed in VLC [19; 20; 21], VLP [22; 23; 24], and VLPC [25; 26] systems. By utilizing the orthogonality characteristic of various orthogonal codewords, CDM-based approaches are able to distinguish different signals at the receiver and thus can transmit multiple VLC and VLP signals in the same time slot and frequency band efficiently.