The invention relates to an unmanned device positioning method, device and system. An unmanned device team comprising a plurality of unmanned devices is configured in a teamwork mode in advance, each unmanned device performs information interaction with one another, and the interaction information includes its own positioning information and its own movement status information. The method comprises the steps of when determining that the current unmanned device in the unmanned device team is lost, sending an interaction information request instruction to the remaining unmanned devices in the unmanned device team; receiving team interaction information returned by the remaining unmanned devices according to the interaction information request instruction, the team interaction information including first positioning information and an operating speed value of the current unmanned device during the information interaction with the current unmanned device for the last time and second positioning information of the remaining unmanned devices; and determining target position information of the current unmanned device according to the first positioning information, the operating speed value and the second positioning information. With the scheme of the invention, it is possible to reduce the search difficulty and the cost of the lost unmanned device.