Abstract: A method of calibrating angle drift of a laser radar system is provided, in one aspect of the present invention. The method includes, providing a plurality of virtual fiducials into an xy scanner; and providing a plurality of auxiliary laser sources into the xy scanner. The method also includes, routing a plurality of auxiliary laser beams from the plurality of auxiliary laser sources into the xy scanner; and calibrating an angular position of a plurality of laser directing means. The methods provides creating a calibration signal for updating the angular position of a plurality of scanning mirrors.