Positioning method and device

The invention provides a positioning method and device, belonging to the technical field of electronics. The objective of the invention is to overcome the problems of low positioning efficiency and low positioning precision of conventional mobile robots using microprocessors. The method comprises the following steps: calculating the degree of point cloud matching between initial point cloud data and historical point cloud data in a preset time period; modifying the initial point cloud data according to the preset amount of step size variation, and calculating the degree of point cloud matchingbetween the modified initial point cloud data and historical point cloud data; taking point cloud data corresponding to the maximum point cloud matching degree as first point cloud data; acquiring second point cloud data based on the first point cloud data by carrying out the same operation; and if the point cloud matching degree of the first point cloud data is greater than or equal to the pointcloud matching degree of