Abstract: Airborne LiDAR is multisensor system. Systematic error is a main error which affects LiDAR positioning accuracy. This paper simulates flight trajectory and laser footprints based on LiDAR positioning equation. Boresight errors are introduced to analyze the relationship between LiDAR systematic error and positioning accuracy. Results show that lever arm biases have the same impact on the accuracy of laser footprint while boresight angle biases have relationship with scanning angles on the positioning accuracy.