In a three-dimensional reconstruction task, the pitch range of the multi-layer light detection and ranging (LIDAR) is limited, and the data account of the multi-layer LIDAR is large, which increases the computational burden. A novel method through uniting a single-layer LIDAR and the inertial measurement using a global navigation satellite system/inertial navigation system(GNSS/INS) was developed in this study to solve the problems mentioned above. A single-layer LIDAR scanning feedback plane was used to obtain the depth information, and then a quaternion attitude solution was used to obtain the point cloud image scanned by each station. When using the iterative closest point algorithm to achieve the point cloud registration between sites, the matching point cloud data was filtered and updated to improve the calculation efficiency.The experimental results show that the single-layer LIDAR and the GNSS/INS system can increase the computation rate by 76%, while preserving the digital characteristics of the point cloud. Therefore, the space reconstruction technique using the single-layer LIDAR and GNSS/INS has a similar high registration accuracy as the multi-layer LIDAR three-dimensional reconstruction system and effectively reduces the engineering cost.