A positioning method, wherein the positioning method comprises: obtaining first time information of a first to-be-positioned node, wherein the first time information comprises a sending time at which the first to-be-positioned node sends a fine timing measurement action frame and a first receiving time at which the first to-be-positioned node receives the fine timing measurement response frame; and obtaining position information of at least three collaborative nodes with known positions and third time information of the at least three collaborative nodes with known positions, wherein the third time information comprises receiving time at which the at least three collaborative nodes receive the fine timing measurement action frame and receiving time at which the at least three collaborative nodes receive the fine timing measurement response frame; characterized in that the method further comprises: obtaining second time information of a second to-be-positioned node, wherein the second time information comprises a second receiving time at which the second to-be-positioned node receives the fine timing measurement action frame and a sending time at which the second to-be-positioned node sends the fine timing measurement response frame; and determining position information of the first to-be-positioned node and position information of the second to-be-positioned node according to the first time information, the second time information, the third time information, and the position information of the at least three collaborative nodes with known positions. obtaining first time information of a first to-be-positioned node, wherein the first time information comprises a sending time at which the first to-be-positioned node sends a fine timing measurement action frame and a first receiving time at which the first to-be-positioned node receives the fine timing measurement response frame; and obtaining position information of at least three collaborative nodes with known positions and third time information of the at least three collaborative nodes with known positions, wherein the third time information comprises receiving time at which the at least three collaborative nodes receive the fine timing measurement action frame and receiving time at which the at least three collaborative nodes receive the fine timing measurement response frame; characterized in that the method further comprises: obtaining second time information of a second to-be-positioned node, wherein the second time information comprises a second receiving time at which the second to-be-positioned node receives the fine timing measurement action frame and a sending time at which the second to-be-positioned node sends the fine timing measurement response frame; and determining position information of the first to-be-positioned node and position information of the second to-be-positioned node according to the first time information, the second time information, the third time information, and the position information of the at least three collaborative nodes with known positions. obtaining second time information of a second to-be-positioned node, wherein the second time information comprises a second receiving time at which the second to-be-positioned node receives the fine timing measurement action frame and a sending time at which the second to-be-positioned node sends the fine timing measurement response frame; and determining position information of the first to-be-positioned node and position information of the second to-be-positioned node according to the first time information, the second time information, the third time information, and the position information of the at least three collaborative nodes with known positions. <EOS>