A catadioptric lens with optical elements, which are arranged along an optical axis and with at least one concave mirror located in the vicinity of a pupillar surface of the projection lens. One exemplary system receives user input identifying a starting landmark and ending landmark in a particular selected geographic region, such as a city, university campus, government building, shopping mall, or airport. The system has an obviously simplified and compact structure, thus reducing the manufacturing cost, lowering the energy consumption, obviously extending the service life of the motors and ball screws, and making easy to popularize. The measurement module employs the vibration sources to generate vibrations in the tube.