GNSS technology can conduct high-precision, high-speed real-time precision navigation and positioning, and is the main technical means of outdoor autonomous positioning. By means of differential technology, precise single point positioning technology and other means, the positioning of outdoor robots can achieve different positioning accuracy at sub meter, decimeter and centimeter levels in real time; Or it can be combined with inertial navigation, vision, radar and other sensors for high-precision positioning in a variety of complex scenes.