Abstract: Objective Hardware-related system errors of terrestrial 3Dlaser scanner can be reduced or eliminatedby calibration.Basic model and reference model of terrestrial 3Dlaser scanner system errors were es-tablished.Laboratory calibration adjustment model was deduced.After the adjustment was comple-ted,exterior orientation elements,global coordinates of targets,coefficients of system error and ob-servations of corrected random error can be acquired.Considering both physically interpretable andempirically identified components,phase-terrestrial FARO Focus3Dself-calibration test was conduc-ted in a laboratory calibration room.The influence of the number and distribution of control points onthe residual distribution of observations and system error modeling were analyzed by calibration exper-iments.The modified model of FARO Focus3Dsystem errors was established.The effectiveness ofmodified model was proved.