Real-time positioning method and device based on distributed collaborative resource management

The invention provides a real-time positioning method and a real-time positioning device based on distributed collaborative resource management, which can reduce the time consumed by resource allocation in an online positioning stage while ensuring the positioning precision, and comprises the following steps of: broadcasting ranging reference signals to all proxy nodes, and utilizing the received reference signals to carry out resource allocation on the proxy nodes. The proxy node obtains an initial estimation position by using a standard TOA positioning scheme; carrying out NLOS path discrimination based on channel characteristics; each proxy node in the cooperative positioning network equally divides a half of available bandwidth, and then distributes the remaining available bandwidth according to the initial estimation position of the proxy node and the topological distribution of the anchor node; a resource allocation model is constructed based on a DDPG network, a distributed SPEB is adopted as an optimi