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Single-photon lidar stands out as a promising technology for long-distance lidar applications, owing to its attributes of single-photon sensitivity and high repetition rate. Existing single-photon lidar systems typically rely on single-point scanning for positioning and tracking, necessitating intricate and precise scanning control. In pursuit of a more concise and efficient positioning, we incorporate the four-quadrant theory to articulate the signal formula of photon detection, and propose a novel single-photon four-quadrant positioning method. Our method, which includes signal preprocessing, compensation for longitudinal motion, extraction of pixel intensity, and acquisition of lateral motion, facilitates motion acquisition and positioning for targets. Through simulation calculations, we analyze and compare the effectiveness of each step of the method. With longitudinal and lateral speeds of 100 m/s and 50 m/s, respectively …