Surveying system for measuring the position of a measuring point on the ground, the surveying system comprising • a survey pole with □ a body having a pointer tip for contacting the measuring point and □ position giving means for making available the coordinative determination of a referenced position, the position giving means being placed on the body with a defined spatial relationship relative to the tip, particularly wherein the position giving means comprise a retro reflector and/or a GNSS-antenna, • determination means for repeatedly determining the referenced position of the position giving means and • evaluation means for deriving the position of the measuring point at least based on the determined referenced position and on the defined spatial relationship of the position giving means relative to the tip, wherein • the survey pole further comprises an inertial measuring unit placed on the body with a defined spatial relationship relative to the position giving means, wherein the inertial measuring unit comprises IMU-sensors including accelerometers and gyroscopes, and • the surveying system further comprises IMU-processing means for repeatedly determining inertial state data based on measurements taken by the inertial measuring unit, the inertial state data including an attitude state, wherein • the evaluation means are further configured for ▪ feeding a predefined filter algorithm with the repeatedly determined referenced position and the repeatedly determined inertial state data and deriving therefrom referenced attitude data for the survey pole, taking into account the defined spatial relationship of the inertial measuring unit relative to the position giving means, and ▪ further using the referenced attitude data for deriving the position of the measuring point, characterized in that the evaluation means are further configured for using a Divided Difference Filter within the predefined filter algorithm, and the attitude state is represented as a deviation from a nominal attitude in a three-parameter representation. • a survey pole with □ a body having a pointer tip for contacting the measuring point and □ position giving means for making available the coordinative determination of a referenced position, the position giving means being placed on the body with a defined spatial relationship relative to the tip, particularly wherein the position giving means comprise a retro reflector and/or a GNSS-antenna, □ a body having a pointer tip for contacting the measuring point and □ position giving means for making available the coordinative determination of a referenced position, the position giving means being placed on the body with a defined spatial relationship relative to the tip, particularly wherein the position giving means comprise a retro reflector and/or a GNSS-antenna, • determination means for repeatedly determining the referenced position of the position giving means and • evaluation means for deriving the position of the measuring point at least based on the determined referenced position and on the defined spatial relationship of the position giving means relative to the tip, • the survey pole further comprises an inertial measuring unit placed on the body with a defined spatial relationship relative to the position giving means, wherein the inertial measuring unit comprises IMU-sensors including accelerometers and gyroscopes, and • the surveying system further comprises IMU-processing means for repeatedly determining inertial state data based on measurements taken by the inertial measuring unit, the inertial state data including an attitude state, wherein • the evaluation means are further configured for ▪ feeding a predefined filter algorithm with the repeatedly determined referenced position and the repeatedly determined inertial state data and deriving therefrom referenced attitude data for the survey pole, taking into account the defined spatial relationship of the inertial measuring unit relative to the position giving means, and ▪ further using the referenced attitude data for deriving the position of the measuring point, characterized in that the evaluation means are further configured for using a Divided Difference Filter within the predefined filter algorithm, and the attitude state is represented as a deviation from a nominal attitude in a three-parameter representation. ▪ feeding a predefined filter algorithm with the repeatedly determined referenced position and the repeatedly determined inertial state data and deriving therefrom referenced attitude data for the survey pole, taking into account the defined spatial relationship of the inertial measuring unit relative to the position giving means, and ▪ further using the referenced attitude data for deriving the position of the measuring point,