Modular extensible indoor-outdoor seamless positioning method

The invention provides a modular extensible indoor-outdoor seamless positioning method. The modular extensible indoor-outdoor seamless positioning method is characterized in that the type of an environment where a user is located is determined by collecting the environment feature data of different environments and sensing the environment according to the collected environment feature data, and a corresponding positioning method is selected according to the type of the environment so as to achieve positon estimation. The modular extensible indoor-outdoor seamless positioning method has the advantages that the method can integrate different basic positioning algorithms, the algorithms can be flexibly combined according to different environments, indoor-outdoor seamless positioning is achieved, and the method is good in extensibility. 本发明提供种模块化的可扩展室内外无缝定位方法，其通过采集不同环境中的环境特征数据，并根据采集的环境特征数据对环境进行感知确定用户所处的环境类型，根据环境类型选择相应的定位方法，进而实现位置估计。本发明能够集成不同的基本定位算法，针对不同环境进行灵活组合，实现室内外无缝定位，具有较好的可扩展性。