Even if the airborne lidar is well calibrated, lidar data still may show residual system error, which results in the deformation of strips in each testing zone. We firstly calculates the placement angle based on the surface feature, which provides the initial point cloud for eliminating the residual system error. Then, under the condition of the same three-dimensional coordinate of the connection point, the nonlinear error of the scanning angle error is corrected based on the iterative closest point (ICP) method. Experiments show that the method can guarantee the absolute accuracy of high altitude flight data, and the point cloud accuracy can meet related requirements.