The invention relates to an indoor and outdoor integrated combined positioning device and belongs to the technical field of positioning. With the indoor and outdoor integrated combined positioning device adopted, full-airspace coverage position information service can be provided for people. The indoor and outdoor integrated combined positioning device comprises a data acquisition module and a combined positioning module; the data acquisition module is used for acquiring magnetic field data, angular velocity data, acceleration data, wireless signal data, an air pressure altitude data magnetic field and satellite navigation data; and the combined positioning module is connected with the data acquisition module and is used for receiving the data acquired by the data acquisition module, judging whether a current positioning condition is in a room or not, and performing the positioning solving of people through inertial navigation positioning, magnetic field matching positioning, wireless positioning, air pressure altitude measurement and map constraint on the basis of a particle filter framework if the current positioning condition is in a room, and performing the positioning solving of the people through a combined positioning method including satellite positioning. With the system of the invention adopted, full-airspace coverage position information service can be provided for the people. The system is used for emergency rescue, safety management, positioning navigation and other scenes.