The invention provides an indoor positioning method and device, relates to a positioning method, and aims to overcome detects such as poor positional accuracy and the like in the prior art. The method comprising steps as follows: at least one RFID (radio frequency identification devices) reader-writer prearranged in the space at the top of the indoor is controlled to send an inquiring signal when an instruction for searching a target object is received; corresponding product signals acquired by the at least one RFID reader-writer are acquired respectively, and the product signals are fed back by a prearranged RFID label object according to the inquiring signal; a target reader-writer acquiring the largest energy of a target label is selected from the at least one RFID reader-writer according to the product signals, and the target label corresponds to the target object; the target reader-writer is controlled to move along prearranged two-dimensional tracks, and a target label signal and a reference label signal which are sent by the target reader-writer at the cross point of the two-dimension tracks are received; and position coordinates of the target object are determined according to the signal strength of the target label signal and the reference label signal. The scheme can be applied to a warehouse management system and the like.