The embodiment of the present disclosure provides a positioning method, a positioning device and system, an electronic equipment and a computer readable medium. The positioning method comprises: establishing connection with a target node in response to feedback information returned by the target node; acquiring initial position information; acquiring real-time position information for multiple times; and positioning the target node according to the acquired initial position information and the real-time position information acquired for multiple times. wherein the real-time position information comprises the direction and the distance of the movement of the source node relative to the last position of the source node, the direction and the distance of the movement of the target node returned by the target node relative to the last position of the target node, and the distance between the target node and the source node.