如何实现高精度、高可靠性的室内外无缝定位，是基于位置服务的基础工作也是目前导航定位领域的难题。室内外过渡区是无缝定位的纽带区域，也是室外定位信号和室内定位信号均受到严重遮挡和干扰的区域。本项目以GNSS、UWB和INS为主要传感器进行数据信息采集，通过协同作业模式，围绕室内外过渡区在“可靠性”、“传感器切换”、“多路径”和“滤波模型误差”等方面存在的关键问题，运用实验比较，数值模拟与综合分析等多学科理论与方法，系统研究室内外过渡区域定位可靠性评价模型，传感器切换定位场景下的观测值实时变权算法，顾及惯性信息的过渡区多路径削弱模型以及基于闭环/开环反馈的抗差/自适应融合定位理论，建立面向室内外过渡区域的GNSS/UWB/INS协同定位作业模式。本项目的研究可为解决高精度、高可靠性的室内外过渡区导航定位提供有效的技术和理论支撑。

It is a basic work to obtain high-precision and high-reliability position information in indoor and outdoor areas. At the same time, seamless positioning is one scientific problem in navigation and positioning field. The connecting regions between indoor and outdoor areas are the link areas during seamless positioning. The indoor and outdoor signals for positioning are seriously covered in the connecting regions. The sensors including global navigation satellite system, ultra-wide band and inertial navigation system are used to collect data by cooperative mode in the project. In order to solve the key problems about reliability, sensors switch, multipath and filter model error, the methods including experimentation comparison, numerical simulation and comprehensive analysis from different perspectives are applied. The reliability model is constructed to assess the position result in the connecting regions. The real-time change algorithm of observation weight is formed in the sensors switch situation. The weaken model for multipath is constructed based on the inertial navigation information. The robust and adaptive filter theory is built based on the closed and open loop feedback mechanism. The research object is to realize cooperative positioning of GNSS/UWB/INS integration in the connecting regions between indoor and outdoor areas. The research work is able to provide technical support and theoretical guidance for high-precision and high-reliability positioning and navigation in indoor and outdoor areas.