Mileage calibration method and device for double-wheel differential model, equipment and storage medium

The invention relates to a mileage calibration method based on a double-wheel differential model; wherein the mileage calibration method based on the double-wheel differential model comprises the steps: collecting data of each encoder arranged on a robot or a vehicle, and obtaining a theoretical radius and a theoretical wheel distance of wheels installed on the robot or the vehicle; and calibrating the theoretical radius and the theoretical wheel spacing based on the encoder data to obtain an actual wheel radius and an actual wheel spacing, and calculating a course angle according to the encoder data, the actual wheel radius and the actual wheel spacing; and calculating speedometer information according to the course angle and the increment value of the encoder data in unit time, and calibrating the position of the robot or the vehicle through the speedometer information. Sensors capable of being adopted are Hall sensors, photoelectric encoders and magnetic angle sensors on wheels, additional sensors are not