A positioning method performed at a server includes: receiving, at a frequency, arrival time information from a plurality of readers; determining, according to the arrival time information, that the tag is in a sensing auxiliary region of a positioning region; sending a first control command to one of the readers, so that the tag activates an inertial sensor thereof according to the first control command; receiving, from the reader, position information of the tag in the sensing auxiliary region obtained by the inertial sensor; determining, according to the position information of the tag in the sensing auxiliary region, a first motion trajectory of the tag in the sensing auxiliary region; and determining, according to the first motion trajectory, whether the tag enters one of the first regions.