The demands for integrated communication and positioning (ICP) have been put forward in Internet of Things. However, the existing ICP systems either face challenges in trade-off between data rates and positioning accuracy or have difficulties in guaranteeing human safety while maintaining excellent performance. In this paper, we propose a monocular resonant beam-based ICP (RB-ICP) design for simultaneously realizing high-rate data transfer and high-accuracy localization while keeping the features as intrinsic safety. Utilizing the high-efficiency transmission channel of resonant beam system and the frequency-doubled beam design, we introduce the communication model without the echo interference issue. Then, we propose a distance estimation model using the phase-shift method with frequency-quadrupled beam design. Next, the angle of arrival estimation can be conducted relying on the energy-concentrated and self-alignment features of resonant beam. The simulation methods including centroid algorithm and signal conversion simulation in a photosensor along with the noise analysis are presented. In numerical analysis, we demonstrate that the positioning error can be less than 1cm and the achievable spectral efficiency can reach 16bit/s/Hz over 2m distance in 15° field of view (FoV). This proposed system enables simultaneous high-rate data transfer and high-accuracy receiver positioning for the applications such as augmented reality/virtual reality (AR/VR).