The present invention discloses a three-dimensional spatial positioning method and system. When a signal receiving device detects first laser plane signals, second laser plane signals, and ultrasonicsignals, the method does not perform fusion processing on the multiple ultrasonic signals received by the signal receiving device, selects an ultrasonic signal receiving unit that receives the ultrasonic signals the earliest among a plurality of ultrasonic signal receiving units on the signal receiving device as an optimal ultrasonic signal receiving unit, calculates the distance between the signal receiving device and a signal transmitting device according to the time at which the optimal ultrasonic signal receiving unit receives the ultrasonic signals, then calculates a first rotation angleand a second rotation angle according to time at which the signal receiving device receives the first laser plane signals and time at which the signal receiving device receives the second laser planesignal, and further determines three-dimensional coordinates of the signal receiving device in a three-dimensional measurement coordinate system, and improves spatial positioning accuracy.