The invention discloses a positioning and motion control method of a pile driving boat. The positioning and motion control method comprises the steps of building a boat-following coordinate system ina plane by two GPS signal receiver on a boat; obtaining coordinate of an original point of the boat-following coordinate system in an absolute coordinate system according to the received coordinate information; obtaining coordinate of an axis of a foundation pile under the boat-following coordinate system according to a position of the axis of the foundation pile on the boat; calculating an actualposition of the foundation pile after obtaining the profile of the foundation pile by a scanner, and obtaining an axis deflection error of the foundation pile; determining position coordinate of eachanchor distribution point on the boat in the absolute coordinate system after the pile driving boat is in place; positioning central coordinate of the boat, and obtaining coordinate of each connection point under the absolute coordinate system in the boat-following coordinate system when the boat is at the point; obtaining the position of the original point of the boat-following coordinate systemaccording to in-place gesture of the boat when the pile driving boat is in place; further obtaining each direction motion speed; and calculating a cable winding speed of each anchoring machine at thecorresponding moment so as to control the cable winding speed of each anchoring machine and achieve motion of the pile driving boat.