The present invention discloses a cooperative positioning method and apparatus. The cooperative positioning method includes the steps as follows: acquiring an observed value by utilizing navigation satellite signals, and performing data interaction through a communication network to acquire an observed value measured by a nearby terminal; performing cooperative calculation by utilizing observed values of two terminals to acquire a relationship vector between the terminals; converting pseudorange information of the nearby terminal to local pseudorange information by utilizing the vector relationship between the terminals; performing position computation by utilizing the local and converted observe value information. At the same time, the present invention provides an apparatus based on the method, and therefore the positioning accuracy is increased.