The airborne LiDAR (Light detection and ranging) scanning system consists of laser scanner (LS), global navigation satellite system (GNSS) and inertial navigation system (INS), which has a wide range of practical value and application prospects in 3D measurement and driverless driving. The installation error angle of the scanning system is one of the main factors affecting the accuracy of the laser point cloud. A calibration method for the installation error parameters of the airborne LiDAR scanning system without ground control points is proposed. The scan system placement parameter calibration model is deduced by repeatedly scanning the same name point, and finally the least squares iteration method is used to solve the optimal value of the calibration parameters. The feasibility and effectiveness of the proposed method are verified by unmanned airborne laser scanning system experiment, which can obviously improve the quality of the point cloud generated by the scanned data, which has certain feasibility and practicability.