A positioning method, comprising: acquiring a first image captured by an optical device; the first image comprising images of a ground observation object and a plurality of predetermined objects, and the predetermined objects having known geographic coordinates; selecting a first predetermined object from the predetermined objects based on the first image; acquiring a second image; the first predetermined object being located at the center of the second image; determining a first attitude angle of the optical device based on measurement data obtained by an inertial navigation system and the first predetermined object in the second image; modifying the first attitude angle, based on a position relationship between the ground observation object and the first predetermined object in the second image, to obtain a second attitude angle that is based on the first attitude angle and a modified value of the first attitude angle; calculating a geographic coordinate of the ground observation object based on the second attitude angle, wherein the geographic coordinate comprises a longitude coordinate and a latitude coordinate; wherein the step of determining a first attitude angle of the optical device based on measurement data obtained by an inertial navigation system and the first predetermined object in the second image comprises: calculating the first attitude angle of the optical device, based on the measurement data obtained by the inertial navigation system and the first predetermined object in the second image, by using a first formula; wherein the first formula is A cos α cos β sin α cos β − sin β = B N cos c cos d N cos c sin d N 1 − e 2 sin c: wherein A and B represent preset rotation matrices that are determined based on the measurement data obtained by the inertial navigation system; c and d are geographic coordinates of the center location of the second image, c represents a longitude coordinate, and d represents a latitude coordinate; α and β are first attitude angles at which the optical device captures the second image, α is an azimuth angle, and β is a pitch angle; and e = a 2 − b 2 a and N = a 1 − e 2 × sin 2 d, wherein a represents the longest radius of the earth, and b represents the shortest radius of the earth. acquiring a first image captured by an optical device; the first image comprising images of a ground observation object and a plurality of predetermined objects, and the predetermined objects having known geographic coordinates; selecting a first predetermined object from the predetermined objects based on the first image; acquiring a second image; the first predetermined object being located at the center of the second image; determining a first attitude angle of the optical device based on measurement data obtained by an inertial navigation system and the first predetermined object in the second image; modifying the first attitude angle, based on a position relationship between the ground observation object and the first predetermined object in the second image, to obtain a second attitude angle that is based on the first attitude angle and a modified value of the first attitude angle; calculating a geographic coordinate of the ground observation object based on the second attitude angle, wherein the geographic coordinate comprises a longitude coordinate and a latitude coordinate; wherein the step of determining a first attitude angle of the optical device based on measurement data obtained by an inertial navigation system and the first predetermined object in the second image comprises: calculating the first attitude angle of the optical device, based on the measurement data obtained by the inertial navigation system and the first predetermined object in the second image, by using a first formula; wherein the first formula is A cos α cos β sin α cos β − sin β = B N cos c cos d N cos c sin d N 1 − e 2 sin c: wherein A and B represent preset rotation matrices that are determined based on the measurement data obtained by the inertial navigation system; c and d are geographic coordinates of the center location of the second image, c represents a longitude coordinate, and d represents a latitude coordinate; α and β are first attitude angles at which the optical device captures the second image, α is an azimuth angle, and β is a pitch angle; and e = a 2 − b 2 a and N = a 1 − e 2 × sin 2 d, wherein a represents the longest radius of the earth, and b represents the shortest radius of the earth. calculating the first attitude angle of the optical device, based on the measurement data obtained by the inertial navigation system and the first predetermined object in the second image, by using a first formula; wherein the first formula is A cos α cos β sin α cos β − sin β = B N cos c cos d N cos c sin d N 1 − e 2 sin c: wherein A and B represent preset rotation matrices that are determined based on the measurement data obtained by the inertial navigation system; c and d are geographic coordinates of the center location of the second image, c represents a longitude coordinate, and d represents a latitude coordinate; α and β are first attitude angles at which the optical device captures the second image, α is an azimuth angle, and β is a pitch angle; and e = a 2 − b 2 a and N = a 1 − e 2 × sin 2 d, wherein a represents the longest radius of the earth, and b represents the shortest radius of the earth.