The invention relates to a measuring device and a measuring method for large three-dimensional morphology based on an inertial navigation technology. The measuring device comprises a laser tracker, a portable handheld measuring terminal and a computer, wherein the portable handheld measuring terminal comprises a handheld support, a high-precision CCD (charge coupled device) camera is fixed at the upper part of the handheld support, an image processing and communication unit is positioned in the middle of the handheld support, a semiconductor laser projector is clamped at the lower part of the handheld support, an inertia navigation unit is clamped at the upper part of the handheld support, and the computer is connected with the communication unit and the laser tracker. According to the invention, the inertia navigation technology, the single-point tracking measuring technology of the laser tracker and the linear laser scanning technology are combined, the system can realize three-dimensional measurement in a measuring space which is 80m maximally, rigorous logicality is realized, the engineering is simple to realize, the precision is reliable, quick and high-precision acquisition of three-dimensional point cloud data of oversized workpieces can be realized without high cost on the basis of the existing laser tracker, and the measuring device and the measuring method have good economical usability.