The invention relates to an indoor and outdoor fusion positioning method using a dedicated terminal or a smart phone, which is not only suitable for people, but also is suitable for robots and other intelligent mobile devices. The indoor and outdoor fusion positioning method is characterized in that: 1) indoor positioning is realized by inertial navigation, particle filter, fingerprint matching and indoor map matching, the accuracy is 1 meter or so; 2) the system automatically switches indoor and outdoor scenes, and indoor and outdoor is seamlessly integrated; 3) the dedicated terminal is composed of a universal hardware module, such as GPS, an inertial navigation sensor (an accelerometer, a magnetometer, a gyroscope), a wifi or a Bluetooth module, a communication module and the like; 4) the implementation site is based on the existing wifi network or Bluetooth network, no other hardware needs to be deployed, and thus the cost is reduced; 2) a map marking system with excellent design is provided for marking the map conveniently and quickly without professional skills; and 6) the algorithm is complete and independent, the transportability is high, and thus the indoor and outdoor fusion positioning method can be easily transplanted to other smart phone platforms, robot platforms, wearable devices, etc.