Calibration method for IMU and 2D laser radar on AGV

The invention discloses a calibration method for an IMU (Inertial Measurement Unit) and a 2D (Two-Dimensional) laser radar on an AGV (Automatic Guided Vehicle). The calibration method comprises the following steps: preliminarily measuring an initial pose of the 2D laser radar under the IMU; the initial pose is optimized based on the synchronous pose increment of the 2D laser radar and the IMU, and the pose of the 2D laser radar under the IMU is obtained; the AGV is controlled to linearly run for a certain distance, and the posture of the IMU under the AGV is calculated; controlling the AGV to slowly rotate in situ, fitting the position of the AGV body control center in the map, and optimizing the position of the IMU in the occupied grid map and the pose of the 2D laser radar under the IMU after each rotation is finished; calculating the pose of the IMU under the AGV; and calculating the pose of the 2D laser radar on the AGV. Through different measurement characteristics of different sensors, different data ar