A positioning method for positioning a to-be-positioned terminal in a positioning system, the positioning system comprising a preset anchor set, a positioning server, one or more positioning terminals, and a control device, wherein a distance between each positioning terminal and the to-be-positioned terminal falls within a preset range, the method being performed by the control device, the method comprising: receiving a positioning request for positioning the to-be-positioned terminal, and sending (S100a) an instruction message to one or more positioning terminals according to the positioning request, wherein, the instruction message is used to instruct the positioning terminals to interact with at least one anchor in the preset anchor set to obtain positioning support information, wherein the positioning support information is used to enable the positioning server to position the to-be-positioned terminal, and wherein a distance between each positioning terminal and the to-be-positioned terminal falls within a preset range; wherein the method further comprises: receiving from each positioning terminal that obtains the positioning support information: identifiers of a pair of interaction parties involved in obtaining the positioning support information and a quality factor of the positioning support information, wherein the quality factor of the positioning support information is used to represent the quality of the positioning support information; wherein an interaction party is one of the terminals or the anchors; and sending the identifiers and the quality factor to the positioning server, wherein the positioning server selects the positioning support information for positioning the to-be-positioned terminal based on the quality factor of the positioning support information; wherein, the quality factor of the positioning support information is determined according to at least one piece of the following information: whether a transmission channel used for obtaining the positioning support information is a Line-Of-Sight LOS channel, a signal-to-noise ratio of the positioning support information, a wireless signal bandwidth used during transmission of the positioning support information, and an Analog-to-Digital Converter ADC sampling rate that is of a receiver and used during transmission of the positioning support information. receiving a positioning request for positioning the to-be-positioned terminal, and sending (S100a) an instruction message to one or more positioning terminals according to the positioning request, wherein, the instruction message is used to instruct the positioning terminals to interact with at least one anchor in the preset anchor set to obtain positioning support information, wherein the positioning support information is used to enable the positioning server to position the to-be-positioned terminal, and wherein a distance between each positioning terminal and the to-be-positioned terminal falls within a preset range; wherein the method further comprises: receiving from each positioning terminal that obtains the positioning support information: identifiers of a pair of interaction parties involved in obtaining the positioning support information and a quality factor of the positioning support information, wherein the quality factor of the positioning support information is used to represent the quality of the positioning support information; wherein an interaction party is one of the terminals or the anchors; and sending the identifiers and the quality factor to the positioning server, wherein the positioning server selects the positioning support information for positioning the to-be-positioned terminal based on the quality factor of the positioning support information; wherein, the quality factor of the positioning support information is determined according to at least one piece of the following information: whether a transmission channel used for obtaining the positioning support information is a Line-Of-Sight LOS channel, a signal-to-noise ratio of the positioning support information, a wireless signal bandwidth used during transmission of the positioning support information, and an Analog-to-Digital Converter ADC sampling rate that is of a receiver and used during transmission of the positioning support information. receiving from each positioning terminal that obtains the positioning support information: identifiers of a pair of interaction parties involved in obtaining the positioning support information and a quality factor of the positioning support information, wherein the quality factor of the positioning support information is used to represent the quality of the positioning support information; wherein an interaction party is one of the terminals or the anchors; and sending the identifiers and the quality factor to the positioning server, wherein the positioning server selects the positioning support information for positioning the to-be-positioned terminal based on the quality factor of the positioning support information; wherein, the quality factor of the positioning support information is determined according to at least one piece of the following information: whether a transmission channel used for obtaining the positioning support information is a Line-Of-Sight LOS channel, a signal-to-noise ratio of the positioning support information, a wireless signal bandwidth used during transmission of the positioning support information, and an Analog-to-Digital Converter ADC sampling rate that is of a receiver and used during transmission of the positioning support information.