The present application discloses a signal transmission method and device that can achieve transmission of sidelink positioning reference signals so as to implement sidelink-based positioning. Embodiments of the present application provide a signal sending method used at a sending end, the method comprising: determining sidelink positioning reference signal (SPRS) resource configuration information of a first terminal on a sidelink; and sending, according to the SPRS resource configuration information, a SPRS to a second terminal via the sidelink, such that the second terminal performs positioning measurement on the basis of the SPRS.