Non-singularity method for external parameter calibration of laser radar and inertial measurement unit

The invention discloses a non-singular method for external parameter calibration of a laser radar and an inertial measurement unit, relates to the technical field of multi-sensor calibration, provides inherent defects of an F.C.Park method, elaborates a root cause of a singular phenomenon generated by the F.C.Park method based on a matrix polar decomposition theorem, and on this basis, determines the singular phenomenon generated by the F.C.Park method based on Euclidean group parameters. A non-singular method for laser radar and IMU external parameter calibration is provided; from the perspective of safety, the attitude part of the unknown extrinsic parameter matrix given by the non-singular extrinsic parameter calibration method provided by the invention is constantly a determinant + 1 rotation matrix, and the accuracy and safety of Euclidean group parameter-based laser radar and IMU extrinsic parameter calibration are improved. 本发明公开了一种激光雷达与惯性测量单元外参标定的无奇异方法，涉及多传感标定技术领域，本发明提出了F.C.Park方法的固有缺陷，并基于矩阵极分解定理详细阐述了