The invention is suitable for the field of positioning technology, and provides a positioning method and a positioning system for a rescue cabin robot. The method comprises the following steps: acquiring a plurality of groups global positioning data of the rescue cabin robot by a plurality of wireless positioning terminals through measurement at a plurality of equal time intervals; acquiring localpositioning data of the rescue cabin robot through measurement at a plurality of equal distance intervals; acquiring instantaneous attitude information and instantaneous environment information of the rescue cabin robot; performing weighted data fusion on the global positioning data, the local positioning data, the instantaneous attitude information and the instantaneous environment information through a prebuilt weight function; and acquiring precise position coordinates of the rescue cabin robot through a pre-established algorithm. The positioning method has the advantages of small interference error, high positioning precision, high convergence speed and high stability. The downhole operation safety is enhanced, and the survival probability of rescued personnel is increased.