In the past decades, the Global Navigation Satellite Systems (GNSS), represented by GPS and BeiDou, which have been developed rapidly, have become the most dominant space-time information service infrastructure worldwide and are the absolutely dominant means of positioning, navigation and timing (PNT) services in the world nowadays. However, while GNSS is widely used in various fields of daily life and has shown great benefits, its inherent limitations are also gradually highlighted, mainly in the vulnerability of the system structure, sensitivity of the electromagnetic environment, and the availability of limited coverage areas. As the requirements for positioning scenarios expand, and the demand for positioning in emergent, temporary and unmanned environments increases, a growing number of missions require high-precision navigation, positioning and timing in scenarios where GNSS is not available. In addition, there are more and more missions to perform rapid sensing of unknown areas and to rapidly establish regional positioning systems to provide positioning and navigation services to the users therein. Such requirements place higher demands on the autonomy, mobility and flexibility of the PNT system. However, the contradiction between the limited bandwidth, concurrency, power consumption, computing power and other resources with the growing performance requirements such as accuracy, deployment speed, environmental adaptability, autonomy, and coverage has become prominent. How to realize the deployment and operation of high-precision wireless positioning system under the conditions of harsh environment and limited resources has become one of the main technical challenges in the PNT architecture construction. The combination of location sensors and mobile intelligences provides the possibility of rapid and autonomous construction of spatio-temporal references in unknown environments. Multi-sensor signal collaboration, multi-node information collaborative, and multi-task locating-explorating-control coordination are powerful solutions for the simultaneous exploration and positioning node deployment in unknown complex environments. This presentation will start from the evolution of wireless positioning system and introduce the development trend and the state of the art of high-precision wireless positioning technology, as well as the technical challenges faced.