A collaborative node-based positioning method, wherein the method is executed by a to-be-positioned node, and the method comprises: obtaining a collaborative positioning node list corresponding to each collaborative node that is able to directly communicate with the to-be-positioned node, wherein information about a node that can directly communicate with the collaborative node corresponding to the collaborative positioning node list is recorded in the collaborative positioning node list; selecting, according to the collaborative positioning node list corresponding to each collaborative node, a collaborative node corresponding to a collaborative positioning node list in which a quantity of collaborative nodes being the same as that in a target list corresponding to the to-be-positioned node is largest; and positioning on the to-be-positioned node by using an anchor node and each monitoring node, wherein the anchor node is the selected collaborative node, and each monitoring node is each of same collaborative nodes between the collaborative positioning node list corresponding to the anchor node and the target list; characterized in that the selecting, according to the collaborative positioning node list corresponding to each collaborative node, a collaborative node corresponding to a collaborative positioning node list in which a quantity of collaborative nodes being the same as that in a target list corresponding to the to-be-positioned node is largest comprises: sequentially comparing identification information of all the collaborative nodes in the collaborative positioning node lists with identification information of each collaborative node in the target list corresponding to the to-be-positioned node, to obtain a collaborative node whose identification information is the same as that of each collaborative node in the target list; calculating a quantity of collaborative nodes, in each collaborative positioning node list, whose identification information is the same as that of each collaborative node in the target list; and selecting a collaborative node corresponding to a collaborative positioning node list in which a quantity of collaborative nodes whose identification information is the same as that of each collaborative node in the target list is largest. obtaining a collaborative positioning node list corresponding to each collaborative node that is able to directly communicate with the to-be-positioned node, wherein information about a node that can directly communicate with the collaborative node corresponding to the collaborative positioning node list is recorded in the collaborative positioning node list; selecting, according to the collaborative positioning node list corresponding to each collaborative node, a collaborative node corresponding to a collaborative positioning node list in which a quantity of collaborative nodes being the same as that in a target list corresponding to the to-be-positioned node is largest; and positioning on the to-be-positioned node by using an anchor node and each monitoring node, wherein the anchor node is the selected collaborative node, and each monitoring node is each of same collaborative nodes between the collaborative positioning node list corresponding to the anchor node and the target list; characterized in that the selecting, according to the collaborative positioning node list corresponding to each collaborative node, a collaborative node corresponding to a collaborative positioning node list in which a quantity of collaborative nodes being the same as that in a target list corresponding to the to-be-positioned node is largest comprises: sequentially comparing identification information of all the collaborative nodes in the collaborative positioning node lists with identification information of each collaborative node in the target list corresponding to the to-be-positioned node, to obtain a collaborative node whose identification information is the same as that of each collaborative node in the target list; calculating a quantity of collaborative nodes, in each collaborative positioning node list, whose identification information is the same as that of each collaborative node in the target list; and selecting a collaborative node corresponding to a collaborative positioning node list in which a quantity of collaborative nodes whose identification information is the same as that of each collaborative node in the target list is largest. sequentially comparing identification information of all the collaborative nodes in the collaborative positioning node lists with identification information of each collaborative node in the target list corresponding to the to-be-positioned node, to obtain a collaborative node whose identification information is the same as that of each collaborative node in the target list; calculating a quantity of collaborative nodes, in each collaborative positioning node list, whose identification information is the same as that of each collaborative node in the target list; and selecting a collaborative node corresponding to a collaborative positioning node list in which a quantity of collaborative nodes whose identification information is the same as that of each collaborative node in the target list is largest.