A positioning method includes determining a positioning coordinate (x101,y101,z101) of a positioning device in a scene coordinate system o-xyz based on one or a combination of (1) an estimated coordinate (x1,y1,z1) of the positioning device in the scene coordinate system o-xyz; and (2) positions of image objects of one or more reference illumination sources of a plurality of illumination sources in a scene image, fixed coordinate positions (x0, y0, z0) of the one or more reference illumination sources of the plurality of illumination sources in the scene coordinate system o-xyz, and an included angle α between an x-axis of the scene coordinate system o-xyz and an x′-axis of a positioning device coordinate system o′-x′y′z′.