The invention discloses a single-particle filtering navigation device and method based on an MEMS (Micro-electromechanical System) sensor and VLC (Visible Light Communication) positioning fusion. The single-particle filtering navigation device comprises the MEMS sensor, an INS (Inertial Navigation System) module, a VLC positioning module, a PDR (Pedestrian Dead Reckoning) positioning module and an attitude determination positioning single-particle filtering module; in the single-particle filtering navigation device, an error equation based on INS inertial navigation mechanization is used as a system equation of a fusion filter and is used for updating particles of a particle swarm. An observation equation comprises updating of VLC positioning information, updating of PDR positioning information and updating of observation quantity of a magnetometer and is used for calculating the weight of each particle. Attitude information is output to the VLC positioning module and the PDR positioning module. According to the single-particle filtering navigation device and method, disclosed by the invention, the attitude information of a VLC receiver is accurately estimated for the first time in the field of VLC positioning by utilizing fusion attitude determination, so that the problem that the VLC positioning is easily influenced by the attitude of the receiver and the positioning is not continuous under the condition that a light signal is shielded is solved and influences, caused by the attitudes, on the VLC positioning are eliminated.