Abstract: In the static multi-positions calibration method for strapdown inertial navigation system(SINS), the precision of parameters estimate is influenced by the positions arrangement. For the six-position calibration method, nine initial measurement init error parameters, including accelerometer bias, accelerometer scale factor and gyro bias, were estimated. The relation between position arrangement and calibration precision of these parameters was established. Based on this relationship, the position arrangement problem was transformed to the optimization problem of Fisher information matrix. Furthermore, the optimal position arrangement was presented under some single criterions, which is called as A-optimality, D-optimality and E-optimality, respectively. Finally, a numerical example shows that the optimal position arrangements based on these criterions can provide better estimate for some parameters such as calibrating accelerometer bias and accelerometer scale factor.