A method for positioning user equipment, UE, comprising: detecting, by an auxiliary positioning entity, whether a condition of transmitting positioning related information is currently satisfied, wherein the auxiliary positioning entity comprises any one of the following a base station, a UE, a base station type Road Side Unit, RSU, and a UE type RSU; transmitting, to a target UE, the positioning related information, in case that the condition is satisfied; wherein the positioning related information comprises location calculation information fed back for positioning request information transmitted by the target UE, wherein the location calculation information comprises at least one of: a time at which the auxiliary positioning entity receives a second positioning reference signal transmitted by the target UE, geo-location information of the auxiliary positioning entity when it receives the second positioning reference signal transmitted by the target UE, and wherein the condition of transmitting positioning related information comprises any one of the following: a Global Navigation Satellite System, GNSS, signal being detected by the auxiliary positioning entity; the current movement speed of the auxiliary positioning entity being zero; the type of the auxiliary positioning entity being RSU; the number of other auxiliary positioning entities currently detected by the auxiliary positioning entity being smaller than a first preset threshold; and the distance between the auxiliary positioning entity and other currently detected auxiliary positioning entities being greater than a second preset threshold. detecting, by an auxiliary positioning entity, whether a condition of transmitting positioning related information is currently satisfied, wherein the auxiliary positioning entity comprises any one of the following a base station, a UE, a base station type Road Side Unit, RSU, and a UE type RSU; transmitting, to a target UE, the positioning related information, in case that the condition is satisfied; wherein the positioning related information comprises location calculation information fed back for positioning request information transmitted by the target UE, wherein the location calculation information comprises at least one of: a time at which the auxiliary positioning entity receives a second positioning reference signal transmitted by the target UE, geo-location information of the auxiliary positioning entity when it receives the second positioning reference signal transmitted by the target UE, and wherein the condition of transmitting positioning related information comprises any one of the following: a Global Navigation Satellite System, GNSS, signal being detected by the auxiliary positioning entity; the current movement speed of the auxiliary positioning entity being zero; the type of the auxiliary positioning entity being RSU; the number of other auxiliary positioning entities currently detected by the auxiliary positioning entity being smaller than a first preset threshold; and the distance between the auxiliary positioning entity and other currently detected auxiliary positioning entities being greater than a second preset threshold. a Global Navigation Satellite System, GNSS, signal being detected by the auxiliary positioning entity; the current movement speed of the auxiliary positioning entity being zero; the type of the auxiliary positioning entity being RSU; the number of other auxiliary positioning entities currently detected by the auxiliary positioning entity being smaller than a first preset threshold; and the distance between the auxiliary positioning entity and other currently detected auxiliary positioning entities being greater than a second preset threshold.