The embodiment of the invention provides a cooperative positioning method and system, the cooperative positioning method is applied to more than two to-be-positioned points, the more than two to-be-positioned points comprise a to-be-positioned point and other to-be-positioned points, and the method comprises the following steps: obtaining the position of a first anchor node communicated with the to-be-positioned point; obtaining a to-be-positioned point used for cooperating with the to-be-positioned point to serve as a cooperative to-be-positioned point, the cooperative to-be-positioned pointbeing a node in the remaining to-be-positioned points; establishing communication between the to-be-positioned point and the cooperative to-be-positioned point, and acquiring the position of a secondanchor node communicated with the cooperative to-be-positioned point from the cooperative to-be-positioned point; and determining the position of the to-be-positioned point based on the position of the second anchor node, the second position distribution range of the cooperative to-be-positioned point, the position of the cooperative first anchor node and the first position distribution range of the to-be-positioned point.