Disclosed is a method of estimating the distance between two nodes. The method includes obtaining an original real-time strength sequence, its elements being strengths of signals between the two nodes at respective time slots of a first time period; conducting multi-scale transform with respect to the original real-time strength sequence so as to acquire plural real-time strength component sequences which are results of the original real-time strength sequence projected onto plural scales; removing at least one burst noise element in each real-time strength component sequence so as to get plural updated real-time strength component sequences; estimating, based on the plural updated real-time strength component sequences and a multi-scale empirical mapping relationship, an empirical real-time distance, the multi-scale empirical mapping relationship being used for expressing correspondence relations between strength components and distance components; and determining, based on at least the empirical real-time distance, a real-time distance between the two nodes.