A positioning method, comprising: obtaining a scene image comprising image objects of a plurality of illumination sources, the scene image acquired by a positioning device; obtaining motion data of the positioning device during a motion; determining an estimated coordinate (x 1, y 1, z 1) of the positioning device in a scene coordinate system o-xyz based on the motion data of the positioning device; characterized by: determining an included angle α between an x-axis of the scene coordinate system o-xyz and an x'-axis of a positioning device coordinate system o'-x'y'z' based on the motion data of the positioning device; obtaining a polygon grid derived from a polygonal division on a xoy plane of the scene coordinate system o-xyz based on a plurality of vertex points, the plurality of vertex points being projections of the plurality of illumination sources on a xoy plane of the scene coordinate system o-xyz; selecting N vertex points of the polygon grid as one or more reference vertex points based on the estimated coordinate (x 1, y 1, z 1) of the positioning device; wherein N ≥ 1; detecting in the scene image, image objects of one or more reference illumination sources of the plurality of illumination sources corresponding to the one or more reference vertex points; and determining a positioning coordinate (x 101, y 101, z 101) of the positioning device in the scene coordinate system o-xyz based on positions of the image objects of the one or more reference illumination sources of the plurality of illumination sources in the scene image, fixed coordinate positions (x 0, y 0, z 0) of the one or more reference illumination sources of the plurality of illumination sources in the scene coordinate system o-xyz, and the included angle α. obtaining a scene image comprising image objects of a plurality of illumination sources, the scene image acquired by a positioning device; obtaining motion data of the positioning device during a motion; determining an estimated coordinate (x 1, y 1, z 1) of the positioning device in a scene coordinate system o-xyz based on the motion data of the positioning device; characterized by: determining an included angle α between an x-axis of the scene coordinate system o-xyz and an x'-axis of a positioning device coordinate system o'-x'y'z' based on the motion data of the positioning device; obtaining a polygon grid derived from a polygonal division on a xoy plane of the scene coordinate system o-xyz based on a plurality of vertex points, the plurality of vertex points being projections of the plurality of illumination sources on a xoy plane of the scene coordinate system o-xyz; selecting N vertex points of the polygon grid as one or more reference vertex points based on the estimated coordinate (x 1, y 1, z 1) of the positioning device; wherein N ≥ 1; detecting in the scene image, image objects of one or more reference illumination sources of the plurality of illumination sources corresponding to the one or more reference vertex points; and determining a positioning coordinate (x 101, y 101, z 101) of the positioning device in the scene coordinate system o-xyz based on positions of the image objects of the one or more reference illumination sources of the plurality of illumination sources in the scene image, fixed coordinate positions (x 0, y 0, z 0) of the one or more reference illumination sources of the plurality of illumination sources in the scene coordinate system o-xyz, and the included angle α. determining an included angle α between an x-axis of the scene coordinate system o-xyz and an x'-axis of a positioning device coordinate system o'-x'y'z' based on the motion data of the positioning device; obtaining a polygon grid derived from a polygonal division on a xoy plane of the scene coordinate system o-xyz based on a plurality of vertex points, the plurality of vertex points being projections of the plurality of illumination sources on a xoy plane of the scene coordinate system o-xyz; selecting N vertex points of the polygon grid as one or more reference vertex points based on the estimated coordinate (x 1, y 1, z 1) of the positioning device; wherein N ≥ 1; detecting in the scene image, image objects of one or more reference illumination sources of the plurality of illumination sources corresponding to the one or more reference vertex points; and determining a positioning coordinate (x 101, y 101, z 101) of the positioning device in the scene coordinate system o-xyz based on positions of the image objects of the one or more reference illumination sources of the plurality of illumination sources in the scene image, fixed coordinate positions (x 0, y 0, z 0) of the one or more reference illumination sources of the plurality of illumination sources in the scene coordinate system o-xyz, and the included angle α.