Abstract:The indoor positioning technology has broad application prospects in autonomous navigation of agents. To obtain the position and attitude angle of the moving target in the suspended state, a novel Yconfiguration optical indoor positioning sensor (YPS) is designed. It consists of threelinear chargecoupleddevice(CCD) and three cylindricallenses.According to themovableand the receiving terminalcharacteristicsofYPS fixedon themovingtarget, a threedimensionalreconstruction modelofspatialpointlightsourcesand a quaternion pose calculation algorithm based on cooperative points on YPS are established. It also utilizes the image coordinates on YPS of three visible point light sources in turn.are established When the image coordinates of three visible point light sources are collected in turn. Then, the coordinates and attitude angle of the moving target can be solved when the moving target is within the measurable view field of YPS. Simulation and experiment analyze the influence of different parameters on YPS. In the center of cylinder lens with good linearity, it is verified that that the new YPS can achieve accurate single point positioning. The error of point coordinate is not larger than 3 mm. The pose information of indoor moving target can be determined.