The present disclosure relates to a communication method and system for converging a 5th-Generation (5G) communication system for supporting higher data rates beyond a 4th-Generation (4G) system with a technology for Internet of Things (IoT). The present disclosure may be applied to intelligent services based on the 5G communication technology and the IoT-related technology, such as smart home, smart building, smart-city, smart-car, connected car, health care, digital education, smart retail, security and safety services. The present disclosure provides a positioning method and device for user equipment (UE), and UE, the positioning method for UE comprising: detecting, by an auxiliary positioning entity, whether a condition of transmitting positioning related information is currently satisfied; transmitting the positioning related information, if the condition is satisfied, wherein the positioning related information comprises any one of the following: auxiliary positioning information, and location calculation information fed back for positioning request information transmitted by a target UE.