Millimeter-wave radar and inertial measurement unit detection method and related device

The embodiment of the invention discloses a millimeter-wave radar and inertial measurement unit detection method and a related device. The method comprises the steps of obtaining the position data detected by a millimeter-wave radar and the first pose data detected by an inertial measurement unit when a vehicle is driven in a geographic environment, and setting at least one reference object in thegeographic environment; in a coordinate system of the first pose data, searching position data representing a reference object as target position data; and according to the target position data, calculating the deviation of the millimeter-wave radar and inertia measurement unit joint calibration parameters. Coordinate conversion is carried out on position data detected by the millimeter-wave radar by utilizing the first pose data; the target position data representing the reference object is further searched, deviation calculation is carried out based on the target position data, the calculation process is simple, th