A positioning method and related devices are provided. The method includes: measuring, by a UE, PRSs sent by a plurality of positioning reference devices to obtain a plurality of PRS measurement results; measuring, by the UE, SPRSs sent by the plurality of positioning reference devices to obtain a plurality of SPRS measurement results; performing, by the UE, a positioning operation based on the plurality of PRS measurement results and the plurality of SPRS measurement results, wherein the positioning operation includes: sending the plurality of PRS measurement results and the plurality of SPRS measurement results to a positioning server, so that the positioning server determines a position of the UE based on the plurality of PRS measurement results and the plurality of SPRS measurement results; or determining, by the UE, the position of the UE based on the plurality of PRS measurement results and the plurality of SPRS measurement results.