Visible light positioning (VLP) systems can achieve high positioning precision. However, they are not compatible with visible light communication (VLC) systems. They require special positioning modules and could not reuse functional communication modules, while requiring more than two light emitting diodes (LEDs) to be deployed at user ends. In order to address the issues of weak compatibility and high complexity of VLP, we present a novel position estimation deep neural network (PE-DNN) and propose to add a PE-DNN aided module at the VLC receivers. The proposed module firstly learns features of the VLC channel from received pilot signals implicitly, then it can estimate receivers’ 2-dimension positions intelligently with a single LED. Accordingly, VLC systems can simultaneously provide positioning and information transmission services with only one LED and one photodiode (PD), thus the compatibility and the practicality are greatly improved. Simulation results show that the proposed system achieves a centimeter-level positioning accuracy, and can provide intelligent and practical positioning services for the users.