The invention provides an indoor positioning method, an indoor positioning system, a terminal, an indoor combiner and an indoor antenna, and relates to the field of wireless communication. The indoor positioning method comprises the following steps of: receiving navigation messages sent by at least three indoor antennas by the terminal, wherein each navigation message at least comprises a synchronous head, antenna identification information and an antenna coordinate; determining at least three time differences of arrival (TDOA) from any two indoor antennas in the at least three indoor antennas to the terminal according to the navigation messages; and determining the current position coordinate of the terminal according to the TDOA and the antenna coordinates of the at least three indoor antennas. By using the indoor positioning method, the indoor positioning system, the terminal, the indoor combiner and the indoor antenna, through the above scheme, the stability and the precision of positioning are improved; moreover, a small quantity of the antennas are only necessary to arrange; and the engineering quantity is reduced.