Bloodmeal works, but it smells and has a relatively short effective life. Not only will you need to reapply frequently, but you probably wouldn’t want to spend a lot of time in your yard.
I think a motion activated sprinkler is likely the best. Harmless but makes the dogs move on (and most any other critter).
Otherwise some kind of scent repellent. I have read coffee grounds or citrus peels/sprays can work but they are very short-lived and need constant reapplication.
Or, plant hedges they can’t get through. Especially things with thorns (maybe even some roses).
I’d think that bloodmeal would be attractive to dogs, rather than a repellent. And wolf urine might well inspire competitive peeing, from dogs as well as the occasional coyote.
The motion-sensitive sprinkler option is a possibility, though difficult to calibrate to avoid wetting down passersby.
If you know whose dogs are making deposits on your lawn, you could place the poop in a little box wrapped with a ribbon and put it on the offender’s doorstep, with a kind note.
You could try putting some signs on your lawn that say something like “Damaged lawn. Please keep dogs away”. Most reasonable people would respect that and have their dogs go somewhere else. It won’t stop them all, but it should cut down on it a lot.