A method for positioning a communication device includes: receiving measurement information between a node to be positioned and a set of reference nodes of at least one type, the measurement information including an initial pseudorange and initial orientation angle measurement information between the node to be positioned and a reference node, and the set of reference nodes including at least one reference node; and substituting the measurement information into a preset parametric formula to obtain positioning information of the node to be positioned, the parametric formula being used for indicating a possibility that the positioning information is a value of a preset variable, and the positioning information including position information, clock deviation information and orientation angle information of the node to be positioned.