Various methods of acquiring suitable data for assessing the boresight angles between IMU and laser scanner of a MLS system are existing. Some of these methods require a terrestrially surveyed test site providing accurate absolute coordinates for, e.g., retro-reflective targets of known shape and size. Other procedures rely on scanning objects of known size and position from different driving directions and distances. (Rieger et al., 2010) Only few of them could achieve on-the-fly calibration and use automatic algorithm to solve boresight value. Methods from Riegl (using corresponding planar surfaces located in the three dimensional point clouds), POS MV (separately Roll, Patch, Yaw Test), GEOMATRICS ENGINEERING (to construct new 3D residual model that combined the planed-based feature and catenary-based feature and then to do a least squares) are introduced in this thesis.