摘要：【中文】本发明属于移动机器人定位领域，公开了一种基于GNSS/UWB的移动机器人室内外联合定位方法及装置。通过产生粒子集并初始化，获得粒子的位置信息和该粒子的权重信息。通过重新评估每个粒子的权重，将GNSS和UWB传感器的输出作为观测值，计算出对应位置的相似度，更新粒子权重信息，再根据GNSS和UWB观测值的误差因子或观测值的方差计算得到最终的权值；利用归一化权重和状态后验分布进行状态估计；对所有粒子进行重采样，得到新粒子集，根据新粒子得到定位结果。该方法可以有效克服城市场景中多路径效应的影响，在恶劣的信道环境下对移动机器人进行准确定位，为移动机器人的室内外联合定位提供了更高精度的定位结果。 【EN】The invention belongs to the field of mobile robot positioning, and discloses a GNSS/UWB-based mobile robot indoor and outdoor combined positioning method and device. By generating a set of particles and initializing, position information of the particles and weight information of the particles are obtained. Calculating the similarity of corresponding positions by re-evaluating the weight of each particle and taking the output of the GNSS and UWB sensors as an observed value, updating the weight information of the particles, and calculating to obtain a final weight according to the error factor or variance of the observed value of the GNSS and UWB observed values; carrying out state estimation by utilizing the normalized weight and the state posterior distribution; and resampling all the particles to obtain a new particle set, and obtaining a positioning result according to the new particles. The method can effectively overcome the influence of multipath effect in urban scenes, accurately position the mobile robot in a severe channel environment and provide a higher-precision positioning result for indoor and outdoor combined positioning of the mobile robot.