The accuracy of strapdown inertial navigation system(SINS) is affected by many error parameters. So it should be calibrated and compensated before put into service. For calibrating error parameters more efficiently, a ten-position systematic calibration method was designed. Firstly, through a simplified error parameter model and the equation of velocity error gradient, linear relationships between navigation errors and all error parameters were established. Secondly, because of the velocity error through designed ten-position consecutive rotation plan, the data of gyros and accelerometers were used to calculate all twenty-four error parameters using Kalman filtering method. In addition, this method was simple and feasible. Through the simulation, gyro bias errors are lower than 0.000 75(°)/h; accelerometer bias errors are within 5 ?滋g; installation angle errors of gyros and accelerometers are better than 1.5″, scale errors are better than 2 ppm, accelerometer quadratic term is better than 0.15×10-6 s2/m. Through three groups of experiments, the repeatability of the method is verified, and the method is proved useful.