The invention discloses a relative positioning method without an anchor point, and mainly solves the problem in prior art that the relative position of two pieces of mobile equipment can not be determined under a situation that an initial position is unknown. The relative positioning method comprises the following implementation steps: 1: measuring the initial relative distance of two pieces of mobile equipment; 2: carrying out first-time movement, recording the movement distance and the movement direction angle of two pieces of mobile equipment, and measuring the relative distance of two pieces of mobile equipment after movement; 3: calculating the relative coordinates of the two pieces of mobile equipment after movement, if the coordinates are unique, directly determining a relative position, if the coordinates are not unique, carrying out second-time movement, and if the second-time movement meets a condition, recording the movement distance and the direction angle of the second-time movement and the relative distance of the two pieces of mobile equipment after movement; 4) calculating the relative direction angle of the two pieces of mobile equipment, and determining the relative position. According to the relative positioning method, under the situation of no anchor point and an unknown initial position, the relative position of two mobile equipment is determined through movement.