The invention provides a positioning method and device, and the method comprises the steps: determining a first positioning error function according to the spatial geometric relation between a positioning label and a plurality of positioning base stations, with the first positioning error function being used for indicating the measurement error of the position of the positioning label; determininga target X-axis coordinate and a target Y-axis coordinate of the positioning label according to the target Z-axis coordinate of the positioning label and the first positioning error function; whereinthe value of the first positioning error function corresponding to the target X-axis coordinate and the target Y-axis coordinate of the positioning label meets a preset condition, and the preset condition comprises that the value of the first positioning error function is the minimum value; and positioning the positioning label according to the target Z-axis coordinate, the target X-axis coordinate and the target Y-axis coordinate. Through adoption of the three-dimensional positioning method and device, the problem of relatively large coordinate deviation of the positioning label in a three-dimensional positioning scene in related technologies is solved, and the effect of improving the positioning accuracy is achieved.