We present a technique-led review of the progression of precise radio astrometry, from the first demonstrations, half a century ago, until to date and into the future. We cover the developments that have been fundamental to allow high accuracy and precision astrometry to be regularly achieved. We review the opportunities provided by the next generation of instruments coming online, which are primarily: SKA, ngVLA, and pathfinders, along with EHT and other (sub)mm-wavelength arrays, Space-VLBI, Geodetic arrays, and optical astrometry from GAIA. From the historical development, we predict the future potential astrometric performance, and, therefore, the instrumental requirements that must be provided to deliver these. The next generation of methods will allow ultra-precise astrometry to be performed at a much wider range of frequencies (hundreds of MHz to hundreds of GHz). One of the key potentials is that astrometry will become generally applicable, and, therefore, unbiased large surveys can be performed. The next-generation methods are fundamental in allowing this. We review the small but growing number of major astrometric surveys in the radio, to highlight the scientific impact that such projects can provide. Based on these perspectives, the future of radio astrometry is bright. We foresee a revolution coming from: ultra-high-precision radio astrometry, large surveys of many objects, improved sky coverage, and at new frequency bands other than those available today. These will enable the addressing of a host of innovative open scientific questions in astrophysics.

我们对精确射电天体测量的进展进行了以技术为主导的回顾，从半个世纪前的第一次演示，一直到今天和未来。我们介绍了对于定期实现高精度和精密天体测量至关重要的进展。我们回顾了即将上线的下一代仪器所提供的机会，这些仪器主要是：SKA、ngVLA 和探路者，以及 EHT 和其他（亚）毫米波长阵列、Space-VLBI、大地测量阵列和 GAIA 的光学天体测量。根据历史发展，我们预测未来潜在的天体测量性能，以及实现这些性能所必须提供的仪器要求。下一代方法将允许在更广泛的频率范围（数百 MHz 至数百 GHz）进行超精密天体测量。关键潜力之一是天体测量学将变得普遍适用，因此可以进行公正的大型调查。下一代方法是实现这一点的基础。我们回顾了广播中数量虽少但数量不断增加的主要天体测量调查，以强调此类项目可以提供的科学影响。基于这些观点，射电天文学的未来是光明的。我们预见一场革命将来自：超高精度射电天体测量、对许多物体的大规模勘测、改善的天空覆盖范围以及除现有可用频段之外的新频段。这些将能够解决天体物理学中许多创新的开放科学问题。