Calibration of interior origination element biases between laser scanner and navigation system is essential for Lidar before survey applications. First

control areas are detected and ascertained through laser intensity map. Then the control points are calculated with laser footprint measurements average within control area. Equations include biases and navigation parameters based on control points are set up for optimal estimation. The General Least Squares method with white technology is adopted to handle coupling measurement noise covariance and give optimal estimation of biases under least squares principle. Experiment results shows this algorithm can restrain imprecise coefficient matrix error cause by navigation system. With assumption that relax small angle and measurement noise increased

algorithm is superior to traditional method in general. This confirms algorithm satisfy the calibration requirement with both precision and robust.