The invention discloses a method for positioning an intracardiac catheter, comprising the following steps: A: obtain collected position signals of the intracardiac catheter and reference signals comprising respiration information B: utilizes a self-adaptation de-noising method to process respiration information signals in A step, and eliminate respiration fluctuations in the collected position signals of the catheter. As influences which the same breath has on the catheters at different positions of the heart are related, the invention utilizes the self-adaptation de-noising principle to introduce the reference signals conprising the respiration information and to offset the respiratory displacement in the positioned catheter in a cardiac chamber, without other distorted signals, which hence can avoid using low-pass filtering, and reduce real-time movement of the catheter while having no any ineffective impact. Due to real-time tracking filtering, there is not any problem of different effects at different parts. Furthermore, systems, positioned by electric and magnetic fields as well as ultrasound, are all applicable.
