The invention discloses a multi-sensor integrated indoor and outdoor mobile plotting device and an automatic 3D modeling method. The mobile plotting device comprises different types of sensors and a mobile plotting hardware platform device; the different types of sensors are integrated in the mobile plotting hardware platform device, and the mobile plotting hardware platform device can move freelyand used for indoor and outdoor navigation positioning and mobile plotting of a 3D space environment; relative positions and attitudes of the sensors as well as the absolute position of the mobile plotting hardware platform device can be determined autonomously, and data of the different sensors can be fused and processed; and relative position and attitude information of the sensors and the absolute position of the mobile plotting hardware platform device can be used to determine geometric information of the sensor and data thereof in the 3D space, and a 3D space model is reconstructed automatically. Compared with a traditional method, the automatic degrees in both the data collection and 3D modeling data processing stages are improved substantially.