Inclination measure method of surveying-mapping integrated machine

The invention relates to the technical field of surveying and mapping, and provides an inclination measure method of a surveying-mapping integrated machine. The inclination measure method comprises performing redundancy determination and pretreatment on a measure value of a gyroscope sensor, so as to obtain a first attitude angle and a first azimuth angle, and also performing redundancy determination and pretreatment on a measure value of an accelerometer sensor and a measure value of a magnetic-intensity sensor, so as to obtain a second attitude angle and a second azimuth angle; performing subtraction on the second attitude angle and the first attitude angle, so as to obtain a difference of the attitude angle, and performing subtraction on the second azimuth angle and the first azimuth angle, so as to obtain the difference of the azimuth angle; performing predetermination and pretreatment on the difference of the attitude angle and the difference of the azimuth angle, and sending to a Kalman filter to perform filtering, so as to obtain corrected attitude angle and corrected azimuth angle. By employing Kalman filter to filter shake of the surveying-mapping integrated machine and abrupt change of a magnetic field, the stability and the reliability of the inclination measure device are improved.