GNSS/IMU surveying and mapping system and method

A surveying and mapping method for implementing a stakeout function by using a measurement function of a relative position point, comprising:

• step (1):
• receiving, by a display terminal in real time, three-dimensional coordinate information of the relative position point of a bottom tip of a centering rod and tilt angle information of the GNSS/IMU receiver, wherein the three-dimensional coordinate information of the relative position point of the bottom tip of the centering rod and the tilt angle information of the GNSS/IMU receiver are output by a position transfer device;
• step (2):
• calculation of a distance to be staked out:
• calculating a three-dimensional coordinate vector between the bottom tip of the centering rod and a point to be staked out according to three-dimensional coordinates of the bottom tip of the centering rod and three-dimensional coordinates of the point to be staked out, and projecting the three-dimensional coordinate vector on the local horizontal coordinate system to obtain a projection;
• wherein a sum of vectors of the projection in a horizontal direction is a horizontal distance to be staked out, and a component of the projection in an elevation direction is an elevation distance to be staked out;
• and the horizontal distance to be staked out and the elevation distance to be staked out jointly constitute the distance to be staked out;
• step (3):
• calculation of a direction to be staked out:
• based on the projection of the three-dimensional coordinate vector between the bottom tip of the centering rod and the point to be staked out on the local horizontal coordinate system, calculating an angle between the projection and a true north direction and defining the angle between the projection and the true north direction as a first direction angle;
• and defining a directional tilt angle of the GNSS/IMU receiver received by the display terminal in real time as a second direction angle;
• wherein a difference between the first direction angle and the second direction angle indicates the direction to be staked out;
• step (4):
• prompting the distance to be staked out and the direction to be staked out by the display terminal through a software interface or sound;
• and
• step (5):
• when the distance to be staked out as prompted by the display terminal meets a stakeout accuracy index requirement, determining position coordinates of the bottom tip of the centering rod as position coordinates of the point to be staked out.