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In order to reduce the influence of airborne platforms vibration on the accuracy of measurements,the propagation models have been established for laser beam pointing error of airborne LiDAR.In this paper,the platforms vibration was decomposed into linear-vibration and angular-vibration.Then error propagation models for the two types of vibration were built respectively.Rules of that positioning accuracy influenced by linear-vibration and angular-vibration were also studied.The results show that linear-vibration of x would bring positioning error of y and z only when there is a slope on the measured ground,while the positioning accuracy of x is isolated from the other two directions.Angular-vibration has a significant influence on the accuracy of horizontal positioning.Positioning accuracies of y and z are only influenced by rolling vibration,while the pitching and yawing vibration are two main source of positioning error of x.