A positioning method based on a time difference of arrival, comprising: obtaining (S501), by a network device, a first time difference of arrival, RSTD1; calculating (S502), by the network device, a second time difference of arrival, RSTD2 based on initial location information of UE; calculating (S503), by the network device, a target time alignment error, TAE based on the RSTD1 and the RSTD2; and performing (S504), by the network device based on a target TAE, positioning based on a time difference of arrival, TDOA; wherein the calculating (S503), by the network device, a target TAE based on the RSTD1 and the RSTD2 comprises: calculating (S701), by the network device, a difference between the RSTD1 and the RSTD2, and using the difference between the RSTD1 and the RSTD2 as a TAE; calculating (S702), by the network device, a difference between the RSTD1 and the TAE, and performing positioning calculation based on the difference between the RSTD1 and the TAE, to obtain new location information of the UE; obtaining (S703), by the network device, a new RSTD1, calculating a difference between the new RSTD1 and a new RSTD2 calculated by using the new location information, and using the difference between the new RSTD1 and the new RSTD2 as a new TAE; and obtaining (S704), by the network device, the target TAE based on the new TAE. obtaining (S501), by a network device, a first time difference of arrival, RSTD1; calculating (S502), by the network device, a second time difference of arrival, RSTD2 based on initial location information of UE; calculating (S503), by the network device, a target time alignment error, TAE based on the RSTD1 and the RSTD2; and performing (S504), by the network device based on a target TAE, positioning based on a time difference of arrival, TDOA; wherein the calculating (S503), by the network device, a target TAE based on the RSTD1 and the RSTD2 comprises: calculating (S701), by the network device, a difference between the RSTD1 and the RSTD2, and using the difference between the RSTD1 and the RSTD2 as a TAE; calculating (S702), by the network device, a difference between the RSTD1 and the TAE, and performing positioning calculation based on the difference between the RSTD1 and the TAE, to obtain new location information of the UE; obtaining (S703), by the network device, a new RSTD1, calculating a difference between the new RSTD1 and a new RSTD2 calculated by using the new location information, and using the difference between the new RSTD1 and the new RSTD2 as a new TAE; and obtaining (S704), by the network device, the target TAE based on the new TAE. calculating (S701), by the network device, a difference between the RSTD1 and the RSTD2, and using the difference between the RSTD1 and the RSTD2 as a TAE; calculating (S702), by the network device, a difference between the RSTD1 and the TAE, and performing positioning calculation based on the difference between the RSTD1 and the TAE, to obtain new location information of the UE; obtaining (S703), by the network device, a new RSTD1, calculating a difference between the new RSTD1 and a new RSTD2 calculated by using the new location information, and using the difference between the new RSTD1 and the new RSTD2 as a new TAE; and obtaining (S704), by the network device, the target TAE based on the new TAE. <EOS>