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The rapid acquisition techniques of over- and under-water geoinformation is urgently needed. The Shipborne Over- and Under-water integrated Mobile Mapping System (SiOUMMS) applies plug-in and multi-process network technology to achieve integrated data acquisition and cooperative control of multi-sensors, such as Global Navigation Satellite System, Inertial Measurement Unit, laser scanner, and multi-beam echo sounder. The proposed system can meet the requirements of diverse application scenarios and sensors, allowing for flexibility and scalability. Meanwhile, coarse calibration based on a set of common points and fine calibration using the plane feature constraint are proposed for integratedly obtaining the exterior orientation elements of the laser scanner and the multi-beam echo sounder. Together, these methods provide theoretical support and technical help to the seamless integration of over …