The invention provides a radio frequency positioning method, device and system. The radio frequency positioning method comprises the following steps that radio-frequency signals sent out by an electronic tag of a detected object are received at different azimuth angles and pitch angles in a first position; the radio-frequency signal with the maximum intensity value is screened out from the received radio-frequency signals, and the azimuth angle and the pitch angle which correspond to the radio-frequency signal with the maximum intensity value are determined as the azimuth angle and the pitch angle, relative to the first position, of the detected object; the relative distance, relative to the first position, of the detected object is obtained according to the radio-frequency signal with the maximum intensity value at the first position; according to the geographical coordinates of the first position, the azimuth angle and the pitch angle, relative to the first position, of the detected object, and the relative distance, relative to the first position, of the detected object, the geographical coordinates of the detected object are generated.