Surveying and mapping integrated machine and declivity surveying method thereof

The invention relates to the technical field of surveying and mapping, and provides a surveying and mapping integrated machine and a declivity surveying method thereof. The declivity surveying method comprises the following steps: according to a triaxial angular velocity value, a triaxial acceleration value and a triaxial geomagnetic field value, acquiring an attitude angle of a centering rod of the surveying and mapping integrated machine; acquiring the locating position of the surveying and mapping integrated machine and the length of the centering rod of the surveying and mapping integrated machine; and according to the attitude angle of the centering rod, the locating position of the surveying and mapping integrated machine and the length of the centering rod, calculating the position of a surveyed point on the bottom of the centering rod. The surveying and mapping integrated machine disclosed by the invention can be used for achieving declivity surveying by precisely acquiring the attitude angle of the centering rod of the surveying and mapping integrated machine according to the triaxial angular velocity value, the triaxial acceleration value and the triaxial geomagnetic field value and by further calculating the precise position of the surveyed point on the bottom of the head of the centering rod, and the surveying and mapping integrated machine is simple in surveying process and high in surveying precision.