Cooperative node-based positioning method, node to be positioned, and cooperative node

The application discloses a cooperative node-based positioning method, a node to be positioned, and a cooperative node. The method comprises: obtaining cooperative positioning node lists corresponding to respective cooperative nodes capable of providing direct communication to a node to be positioned, and selecting a cooperative node having a cooperative positioning node list containing the largest quantity of the same cooperative nodes as in a target list of the node to be positioned; and positioning, using an anchor node and monitoring nodes, the node to be positioned, wherein the anchor node is the selected cooperative node, and the monitoring nodes are the same cooperative nodes in the target list and the cooperative positioning node list corresponding to the anchor node. In the embodiment, the quantity of the monitoring nodes exceeds a quantity of monitoring nodes of other possible anchor points, and consequently, the probability of finding a hidden terminal is higher, and the probability of a hidden terminal causing a threat to the anchor node is reduced. A larger quantity of the monitoring nodes provides more timestamp information for positioning, increasing positioning precision.