A method for positioning an autonomous moving device includes steps of: acquiring a current positioning signal of an autonomous moving device during a moving process, and a reference positioning signal of the autonomous moving device before the current positioning signal； resolving the reference positioning signal and the current positioning signal to acquire error data； and processing the error data and position information of the reference positioning signal to acquire current position information of the autonomous moving device. The reference positioning signal before the current positioning signal is used to acquire the error data, and the error data and the position information of the reference positioning signal are processed to acquire the current position information, and it is unnecessary to use a self-built base station or a shared base station to process a satellite signal received in real time at a current moment to acquire the current position information. Therefore, according to the present invention, the self-built base station or the shared base station can be omitted, so as to simplify installation of users and reduce the costs significantly.
