External parameter calibration method and device for laser radar and integrated navigation and intelligent vehicle

The invention relates to a laser radar and integrated navigation external parameter calibration method and device and an intelligent vehicle. Comprising the following steps: acquiring original point cloud data acquired by a laser radar and original pose data acquired by integrated navigation, calculating laser radar pose data corresponding to the original point cloud data based on the original point cloud data, and synchronizing the original pose data of the integrated navigation according to reference time by taking a timestamp of the laser radar as the reference time. And calculating initial rotation external parameters according to the laser radar pose data and the synchronous pose data of the integrated navigation, and optimizing the initial rotation external parameters according to a hand-eye calibration method to obtain optimized target external parameters. According to the method, the problems that in an existing external parameter calibration method, consumed time is long, the result accuracy rate is