Marine Surveying is a high-tech application receiving more and more attention in recent years. The Marine Surveying system typically consists of GNSS receiver, inertial measurement unit, laser scanner, multi-beam detector, etc. The multi-beam detector is an important means to acquire precise topography and geomorphology of shallow waters around islands and reefs; the laser scanner is an effective means to quickly acquire the High-precision topography of bank slopes, shorelines and shoals; and the blending of geographic reference and attitude data provided by the integrated navigation system and data from multi-beam depth detection and laser scanning will produce precise marine and submarine topographic data (point cloud).