To provide a calibration reference for simultaneously calibrating a distance and an angle in a laser ranging apparatus, orbitally calibrate a bias error in a scanner control changed under the space environmental condition, and improve the reliability.

The distance and the angle are simultaneously calibrated by using an optical fiber 9 as an internal reference for calibrating the distance and considering an incident location of the optical fiber as a reference location for calibrating the angle. Since a beam entering into the optical fiber 9 is focused by a focus lens, and a pinhole is installed at a focus point and has a beam divergence angle or less, a resolution of the calibration accuracy is improved. Alternatively, a plurality of the calibration points are provided in a region in which the quantity of transmitted light is not changed by a scanner angle. An error in an actual displacement angle to an instruction angle to the scanner can be estimated by detecting and comparing a level of the received light. Its bias error is calibrated.