The present invention discloses a multi-terminal positioning method, and a related device and system. The method includes: establishing, by a primary terminal after receiving a collaboration request activation signal triggered by a user, connections to secondary terminals in a wireless connection manner; calculating and displaying, by the primary terminal according to received device configuration parameters of the secondary terminals and the number of secondary terminals, at least one arrangement shape of all terminals and at least one demarcated gesture that matches each arrangement shape, and recording one arrangement shape selected by the user and one demarcated gesture that matches the arrangement shape; receiving, by the primary terminal, sensor trigger information sent by at least one secondary terminal; and calculating, by the primary terminal according to the recorded arrangement shape and demarcated gesture, and the sensor trigger information, an arrangement sequence of all terminals and relative positions between the terminals.