172 results about "Radar calibration" patented technology

The invention belongs to the technical field of atmospheric environment monitoring, and particularly relates to an unmanned aerial vehicle laser radar calibration quality control system and method, and the system comprises an unmanned aerial vehicle flight platform, a laser radar module, a navigation positioning module, a control communication module, a data processing module and a ground station. The unmanned aerial vehicle flying platform comprises a shockproof holder and a protective pod; the laser radar module comprises a laser radar, a scanner module and a photoelectric detector module. According to the invention, one unmanned aerial vehicle is adopted to carry various different types of laser radars, the extinction coefficient is measured by combining optical beam splitting, signal processing and algorithm inversion technologies, and atmospheric particulate classification is effectively monitored through cooperation of a high-precision optical system and an algorithm; the extinction coefficient and the depolarization ratio work cooperatively, high-precision quantitative analysis and classification of pollutants can be achieved, the combined measurement function of the extinction coefficient and the depolarization ratio is achieved, and high-resolution three-dimensional monitoring of atmospheric particulates is achieved through multi-parameter cooperative inversion of the laser radar.

The invention relates to the field of surveying and mapping, in particular to a laser-IMU (Inertial Measurement Unit) installation deviation calibration method based on vision assistance, a surveying and mapping method and a surveying and mapping system, a plurality of images under a plurality of laser radar calibration conditions are processed according to camera parameters and camera-IMU associated parameters, laser radar-IMU installation deviation is obtained, manual operation is avoided, and high-precision and high-efficiency deviation calibration is realized; in addition, according to the installation deviation of the laser radar-IMU, the relative space relation of the laser radar-IMU is adjusted, and accurate matching installation of the laser radar and the IMU is ensured; and according to the dynamic characteristics of the surveying and mapping path, constructing a corresponding relation between IMU data and point cloud data frames, and screening a point cloud data point which is most matched with the position point of the surveying and mapping path where each IMU data is located so as to construct a local point cloud map corresponding to the position point, thereby integrating and constructing a space map of a target area where the surveying and mapping path is located. According to the method, data omission can be reduced through local point cloud data processing and map construction, and the accuracy and credibility of spatial surveying and mapping positioning are improved.

The invention discloses a vehicle-mounted multi-laser radar automatic calibration method and system based on ground fitting, and relates to unmanned driving. The method comprises the steps that original point cloud data of vehicle-mounted multi-laser radars are collected, one laser radar is selected from the multi-laser radars to serve as a reference laser radar, and the rest laser radars serve as to-be-calibrated laser radars; dividing the original point cloud data of each laser radar into a ground point set and a non-ground point set; performing plane fitting by adopting an RANSAC (Random Sample Consensus) algorithm, and selecting a plane equation with the maximum number of inner points as a ground model through iterative calculation; respectively constructing a ground loss function Lg and a non-ground loss function Lng; according to the ground loss function Lg and the non-ground loss function Lng, a total optimization function Ltotal is constructed through weighted fusion; solving the total optimization function Ltotal by adopting a numerical optimization algorithm to obtain an optimal transformation matrix T; and performing multi-laser radar calibration according to the optimal transformation matrix T. According to the method, drift of the yaw angle and the horizontal displacement in the optimization process is avoided, and the multi-laser calibration stability is improved.

The invention discloses a multi-radar calibration method and system based on mapping, and is suitable for an automatic driving vehicle and multi-sensor fusion scene. According to the method, firstly, time sorting and random sampling are carried out on top radar point cloud, distortion correction is carried out in combination with local geometric feature extraction and a continuous time GICP factor model, and high-precision mapping is completed under an iVox voxel structure and factor graph optimization framework. Then, on the basis of a top radar optimization pose, a local map is cut, and main radar calibration is achieved through ICP registration, ground normal vector alignment and height compensation; and with the main radar as a reference, blind compensation radar pose optimization is completed step by step. And finally, unifying the poses of the radars to a main radar and IMU coordinate system, and outputting color point clouds and intermediate data. Compared with an existing calibration mode depending on external hardware, the method has the advantages of being low in cost, high in precision, high in robustness, high in automation degree and the like.

The invention discloses a shipborne unattended radar alignment calibration system, which relates to the technical field of shipborne alignment calibration and is characterized in that an alignment calibration task list containing conditions such as time / position / waveform parameters is configured and issued through an upper computer terminal, and a shipborne data recording and control unit is used as a center; based on navigation data and a unified time reference provided by a satellite navigation time service and positioning module, the three-dimensional compass outputs attitude data of a ship, task triggering conditions are automatically judged, antenna pointing is adjusted through attitude compensation calculation, or area scanning is executed, so that a task is completed. A radar signal source is controlled to generate a programmable radar analog signal in an active calibration mode and transmit the programmable radar analog signal through an antenna, a target true value track is generated in a passive calibration mode, and meanwhile full-process data with timestamps are recorded in a concentrated mode. According to the invention, the problems of manual dependence and inaccurate time-space control of traditional shipborne calibration in research and development of radar receivers and electronic investigation equipment are solved, and unattended operation and accurate shipborne calibration are truly realized.

The invention discloses a front and rear dual-laser radar calibration method and system for a non-overlapping view field area, and the method comprises the steps: enabling a front laser radar and a rear laser radar to be installed at the front and rear positions of an unmanned vehicle, and arranging an IMU sensor in the middle of a vehicle body; constructing a three-dimensional point cloud map map1 according to the front laser radar point cloud data and the IMU data, and constructing a three-dimensional point cloud map map2 according to the rear laser radar point cloud data and the IMU data; performing filtering and downsampling preprocessing on the map1 and the map2; performing coarse registration on the preprocessed map1 and map2 to obtain a matching initial matrix Tinit; performing fine registration on the preprocessed map1 and map2 according to Tinit, performing optimization to obtain an external parameter calibration matrix T *, and performing transformation on the front laser radar and the rear laser radar; the method has the advantages that the precision and the efficiency are improved, and laser radars installed front and back and areas with unobvious characteristics can also be calibrated.

The invention discloses a dynamic environment multi-line radar calibration method and system, and relates to the technical field of road radars, and the system comprises a dynamic reference field generation unit which is disposed on the ground of a radar coverage area, is composed of a reflection target array with known space coordinates, and is adjustable in target distance, and a multi-line laser radar unit which is provided with a horizontal field angle of not less than 120 degrees, and is provided with a multi-line laser radar unit. The number of lines in the vertical direction is larger than or equal to 128 lines per frame, the radar body is installed on the portal frame and connected with the control device, the environmental parameter sensing unit collects the temperature, three-dimensional acceleration and power supply voltage data of the radar body in real time, and the distortion compensation module constructs a space distortion field model based on real-time point cloud feedback and environmental parameters of a dynamic reference field, outputs a calibration matrix and outputs the calibration matrix. And the multi-radar collaborative calibration module is used for synchronizing space-time reference through a PTP protocol. Through a real-time compensation mechanism driven by environmental parameters, vibration acceleration and temperature change data are converted into space coordinate correction, and high-precision stable measurement in a dynamic environment is achieved.

The invention relates to a satellite-ground radar reflectivity factor consistency evaluation and deviation traceability method and system, and belongs to the field of radar calibration evaluation, and the method comprises the steps: generating reference ground radar scanning parameters according to geographical environment multi-source heterogeneous data; acquiring satellite-ground radar data according to the scanning parameters of the reference ground-based radar when the satellite-borne radar passes the scene, and performing preprocessing and space-time matching to obtain a satellite-ground radar data pair; based on the target correction information of each height level region, performing sectional frequency correction on the spaceborne radar data to obtain an optimal satellite-ground radar data pair; and carrying out reflectivity factor consistency evaluation on the optimal satellite-ground radar data pair, taking an obtained evaluation result as a tracing reference, and carrying out deviation tracing calibration estimation on the service ground-based radar in combination with a satellite-ground radar reflectivity factor consistency evaluation result of the service ground-based radar. According to the method, the technical problems of precise evaluation of systematic deviation of satellite-ground radar data and unified evaluation and calibration of multi-service satellite-ground radars are solved.

The invention provides a rain measuring radar calibration and data correction method, and the method comprises the steps: obtaining the first observation coordinates of each corner reflector in a target region through a rain measuring radar, and obtaining the real coordinates of each corner reflector; and based on the first observation coordinates of the corner reflectors and the real coordinates of the corner reflectors, determining a correction model of the rain-measuring radar to complete model calibration of the rain-measuring radar. The correction model can be used for correcting rain measurement data of a rain measurement radar to obtain corrected rain measurement data. According to the method, the correction model is established by adopting the association between the coordinates and the real coordinates in the distributed corner reflector image, so that the geometric calibration of the rain radar image is realized, the accuracy of the coordinates of the rain radar can be improved, the geometric error of the existing rain radar caused by the antenna position offset and the antenna pointing offset is solved, and the accuracy of the rain radar image is improved. And the accuracy of the rain measurement data monitored by the rain measurement radar is not accurate.

Methods and apparatus consistent with the present disclosure may compare position data associated with a Light Detection and Ranging (LiDAR) device and location data associated with a radar device. Changes in relative locations of objects detected along a roadway over time may be used to identify whether sensing capabilities of a sensing apparatus are acceptable. Changes in positions detected by operation of a LiDAR device and locations detected by operation of a radar device may be considered normal or acceptable when those changes are below a threshold value. In instances when changes in relative positions / locations detected by operation the LiDAR device and the radar device at an AV change beyond a threshold value, a sensing system may be considered as being out of calibration. Once a processor detects that a sensing system has changed close to or beyond a threshold level, that processor may initiate a corrective action.

Radar sensor alignment validation may ensure a relative position and / or orientation of two or more radar sensors. Radar sensor alignment validation may include determining whether radar data used to determine a sensor alignment is usable for validation and / or determining whether the sensor alignment itself is accurate. This may include iteratively altering a sensor alignment by changing at least one sensor's relative pose, re-determining altered radar data using the altered pose, and determining an updated sensor alignment for the altered radar data. This process may be iterated and metrics may be determined for multiple updated sensor alignments determined this way. These metrics may be used to determine suitability of the underlying radar data for validation and / or an accuracy of the sensor alignment. A validated radar sensor alignment may be used as part of controlling an autonomous vehicle.

The embodiment of the invention discloses a target distance adjustable laser radar calibration system and calibration method, targets with different reflectivity are installed on a target tool table, the target tool table slides on a guide rail and can rotate to switch the targets, and the distance between the targets and a to-be-calibrated laser radar is measured through a range finder. During calibration, the upper computer controls the target tool table to slide along the guide rail and receives the distance measured by the distance measuring instrument, controls the target tool table to stop moving when the distance is equal to the calibration distance, controls the to-be-calibrated laser radar to measure the distance of the target to obtain distance measuring data, receives the distance measuring data of the to-be-calibrated laser radar and stores the distance measuring data and the calibration distance. The targets are not required to be manually placed and the targets with different reflectivity are not required to be manually replaced according to the calibration distance, the distance of the targets on the target tool table can be accurately controlled and the targets with different reflectivity can be automatically switched through the range finder and the upper computer, the accuracy of the distance from the targets to the to-be-calibrated laser radar is improved, manual operation is not required, and the working efficiency is improved. And the calibration data acquisition efficiency is improved.

The invention discloses a bilinear polarization phased array weather radar calibration method and system based on a calibration platform, and relates to the technical field of radar calibration, and the method comprises the steps: obtaining a first transmitting parameter, a first receiving parameter, a second transmitting parameter and a second receiving parameter which are matched with a current mode of a target radar; and calibrating the target radar in the current mode according to the first sending parameter, the first receiving parameter, the second sending parameter and the second receiving parameter. According to the method, the radio frequency signal matched with the mode of the phased array radar is acquired, various calibration parameters of the phased array radar in different working modes are acquired, and the method is suitable for calibration of the phased array radar in all complex modes; and the phased array radar is calibrated through the first sending parameter, the first receiving parameter, the second sending parameter and the second receiving parameter, so that accurate separation and traceability of errors of a plurality of links in the radar system are realized, and the detection precision of radar related parameters is effectively improved.

The invention provides a power grid anti-bird multichannel twitter sound source positioning and intervention method, which comprises the following steps: acquiring sound signals from a power grid area through a multichannel microphone array equipped with a laser radar calibration module, optimizing a separation threshold by adopting Fourier transform and combining a preset bird voiceprint feature library, separating twitter components and noise components, and performing interference on the twitter components and the noise components; pure birdsong signals are obtained; according to the pure birdsong signal, calculating the time difference between channels by adopting a time delay estimation method, dynamically correcting a preset threshold value by combining a real-time environment sensor, if the time difference exceeds the corrected threshold value, marking as an effective birdsong event, and adopting a centimeter-level differential GPS module to assist in determining the position coordinates of the birds; interference execution confirmation is received through an edge computing node and returned to a system log, a D-S evidence theory data fusion method is adopted to integrate the positioning coordinates and the risk level, if it is judged that the fusion result is consistent in a preset confidence interval, the bird damage monitoring model is updated based on an incremental learning algorithm, and real-time closed-loop feedback is obtained.

The application discloses a radar calibration method and device, a radar device and a radar test system. The radar calibration method is applied to the radar test system. The radar test system comprises a radar device and a radar calibration device. The radar calibration device comprises a multi-faceted refractive lens and a flying device. The multi-faceted refractive lens is arranged on the flying device. The method comprises the following steps: the radar device receives a transmission signal of the radar calibration device. The transmission signal is a reflection signal of the multi-faceted refractive lens to electromagnetic waves sent by the radar device. Based on the transmission signal, the actual reflection power of the radar calibration device to the electromagnetic waves is determined. When the error value between the actual reflection power and the standard reflection power of the electromagnetic waves of the radar calibration device is less than a preset threshold, it is determined that the calibration of the radar device is completed. The method can complete the calibration of the radar device based on the reflection signal of the multi-faceted refractive lens in the radar calibration device to the electromagnetic waves sent by the radar device, and ensures the accuracy of the calibration of the radar device.

A radar calibration device for calibrating a radar system installed on a vehicle, is provided by the present disclosure. The radar system comprises a radar module and a radar control unit configured to receive a first signal output by the vehicle. The radar calibration device comprises a memory storing a configuration software. The radar calibration device also comprises a signal calibration unit providing information. The radar calibration device also comprises a processor coupled to the memory, the signal calibration unit and the radar control unit and configured to executing the configuration software. The processor calibrates the first signal to a second signal based on the information.

The invention relates to the technical field of radar calibration equipment, in particular to a high-precision radar static calibration adjustable test bench which comprises a base, and a multidirectional fixing frame is arranged on the base. The multidirectional fixing frame comprises a supporting frame rotationally installed on the base, a transverse rotating frame is arranged on the supporting frame, the rotating axis of the transverse rotating frame is parallel to the base, and a longitudinal moving frame capable of linearly moving in the width direction of the transverse rotating frame is arranged on the transverse rotating frame. According to the invention, the multidirectional fixing frame is arranged, the supporting frame capable of realizing autorotation on the multidirectional fixing frame and the transverse bogie transversely rotating on the supporting frame are utilized, so that rotation simulation in two directions can be realized, and the longitudinal moving frame capable of linearly moving in the width direction of the transverse rotating frame is arranged on the transverse bogie; the reflecting plate is fixed on the longitudinal moving frame, so that the reflecting plate can simulate application scenes of various pitching and horizontal angles, and the test precision is improved.

The application discloses a monocular camera look-around compensation device and method for a long and narrow environment laser radar, wherein the compensation device comprises an airborne laser radar and a point cloud compensation device, the monocular camera is fixed on a holder, the holder is used for dragging the monocular camera to rotate, and the look-around effect is achieved; the problem that the coincidence degree of the field of view of the panoramic camera and the scanning field of the laser radar is not high is avoided, and the problem that the field of view angle of the fixed monocular camera is not enough is also solved. The compensation method is divided into a monocular camera look-around point cloud compensation method and a long and narrow environment compensation method; under the condition that camera-laser radar calibration is performed once, laser radar compensation of a single shaft full angle is realized, and the scene scanning density of a low line number radar can be compensated at a relatively low cost.

The application relates to the field of surveying and mapping, in particular to a laser-IMU installation deviation calibration method, a surveying and mapping method and a system based on visual assistance, wherein a plurality of images under a plurality of laser radar calibration conditions are processed according to camera parameters and camera-IMU correlation parameters, laser radar-IMU installation deviation is obtained, manual operation is avoided, high-precision and high-efficiency deviation calibration is realized, the relative spatial relationship of the laser radar-IMU is adjusted according to the laser radar-IMU installation deviation, the accurate matching and installation of the laser radar and the IMU are ensured, the frame corresponding relationship between the IMU data and the point cloud data is constructed according to the dynamic characteristics of a surveying and mapping path, the most matched point cloud data points of each IMU data position point on the surveying and mapping path are screened, a local point cloud map corresponding to the position point is constructed, and therefore the spatial map of a target region where the surveying and mapping path is located is integrated and constructed. The application can reduce data omission and improve the accuracy and reliability of spatial surveying and positioning through local point cloud data processing and map construction.

This disclosure provides an ultrasonic radar calibration method, apparatus, system, device, and storage medium, related to technical fields such as autonomous driving and autonomous parking machine learning. The specific implementation involves controlling the ultrasonic radar and obstacle movement to detection points; and calibrating the ultrasonic radar at these detection points. This disclosure can effectively improve the calibration efficiency and accuracy of ultrasonic radars.

The invention relates to the field of phased radars, and discloses an active phased array radar calibration method, which is used for improving the accuracy of actually measured phase data. Comprising the following steps: calculating theoretical excitation phases of radiation units according to an antenna array physical geometric structure and a target beam directional angle; enabling the antenna to sequentially excite the radiation units and collect coupling signals in a single-channel mode, and performing analysis to obtain an actually measured amplitude, a phase and a phase deviation; synthesizing the theoretical excitation phase and the phase deviation to generate an actual emission phase, and constructing a phase compensation lookup table; and after compensation by using the lookup table, measuring the actual directional diagram, and if not, performing fine adjustment. The calibration precision and reliability are improved, and the high-precision detection requirement of the active phased array radar can be met.

The present disclosure belongs to the field of autonomous driving technology, and specifically relates to a laser radar calibration method and device. The method comprises: spherically sampling the laser point clouds of the target area respectively acquired by multiple laser radars and representing them into the same vector space, generating Tylenol vectors, and determining the rotation parameters suitable for aligning the laser point clouds based on the distance of the Tylenol vectors; constructing a local map of the laser radar based on the posture of the laser point cloud, obtaining the external parameters of the laser radar based on the local map, optimizing the posture based on the external parameters, and repeating the above steps, wherein the external parameters at the initial moment are determined based on the rotation parameters; when the external parameters still do not converge after executing a preset number of cycles, it is determined that the calibration has failed. If they converge successfully, it is determined whether the target area is a degraded scene. If it is a degraded scene, the target area is replaced and recalibrated. If it is not a degraded scene, it is determined that the calibration is successful.

The present application relates to a kind of in expressway traffic scene multi-radar origin information automatic calibration method, system, equipment and medium, its method includes: obtaining the equipment information and trajectory data of radar to be corrected, and judging radar irradiation direction;Obtain and process map data;Determine whether the radar to be corrected road is reference radar;If it is the reference radar of no connection area, adjust the angle of trajectory data after cleaning, and with the road section range in map data matching, according to the number of matched trajectory to determine the best correction angle;If it is the non-reference radar of having connection area, reference the reference radar of relative connection, determine the optimal matching trajectory by cleaning and trajectory matching, and preliminary correction is carried out according to the difference between matching trajectory, according to the matching degree of trajectory data before cleaning in the direction of radar irradiation and road section range secondary correction is carried out.The present application effectively solves the problem in the process of radar calibration by advanced trajectory processing technology and automatic calibration process.

The invention relates to an AGV laser radar calibration auxiliary detection system which comprises a two-axis motion platform, a reflection device and a control device used for controlling the two-axis motion platform and the reflection device. A containing pool is arranged on the ground of the test site, the two-axis motion platform is installed in the containing pool, and a camera is installed over the containing pool; and a reflecting device A, a reflecting device B and a reflecting device C are respectively arranged at the left front part, the right front part and the right front part of the supporting plate. According to the scheme, the to-be-detected AGV is controlled to automatically run to the two-axis motion platform through the inspection program; the position of the AGV trolley is adjusted by controlling the two-axis motion platform, so that the point position in the laser radar of the AGV trolley is aligned with the detected reference point position; the system automatically identifies the model of the AGV, automatically adjusts the heights of the three groups of feature objects according to the model, and automatically completes verification and correction of the laser radar. According to the system, the workload of manual operation and adjustment can be greatly saved, and the calibration efficiency of the laser radar is remarkably improved.

The invention provides a laser radar calibration method and device and a computer readable storage medium, and the method comprises the steps: obtaining the working time and junction temperature of n times of scanning of a laser radar, and determining the emission light intensity of the laser radar according to the working time and junction temperature of n times of scanning. Further, probe light is emitted to the target object, an echo signal is received, and the reflectivity of the target object is obtained according to the intensity of the emitted light and the echo signal. Through the method, the device and the computer readable storage medium, the problem that the measured reflectivity information is inaccurate due to power attenuation of the laser radar transmitter can be improved, and the accuracy of the detection information is improved.

The application discloses a kind of laser radar calibration assembly, method, device, system and storage medium, it is related to radar positioning technical field, the laser radar calibration assembly includes: calibration platform, for carrying mobile robot travel;Target feature code, is set on calibration platform;Purpose feature code is used for the feature code sensing device on mobile robot reading;Target obstacle, is connected on calibration platform;Target obstacle is used to reflect the target laser that positioning radar on mobile robot emits.This application discloses the laser radar calibration assembly can solve when there is pose deviation between laser radar coordinate system and vehicle body coordinate system, the technical problem that AMR autonomous mobile robot navigation precision is lower.

The application belongs to the field of highway roadside sensor calibration, and provides a distributed two-stage roadside multi-millimeter wave radar cooperative calibration method, which comprises engineering coordinate system construction, radar equipment installation, radar calibration equation construction, road estimation curve fitting, rotation parameter optimization, matching track data determination, X-direction motion equation and Y-direction motion equation fitting, stretching parameter optimization, radar calibration equation updating and periodic online cooperative calibration. The application improves the calibration accuracy of the radar by constructing the radar calibration equation and optimizing the rotation parameter and the stretching parameter, has strong adaptability and flexibility, can be integrated into the existing intelligent transportation system, is compatible with different radar models and configurations, and does not need to make large-scale modification to the existing infrastructure.

The application provides a laser radar calibration parameter determination method and device, a storage medium and an electronic device. The laser radar calibration parameter determination method comprises the following steps: controlling a polygonal mirror to rotate at a preset rotating speed; adjusting the light-emitting time of pulse light emitted by a laser to a reflecting surface of the polygonal mirror; acquiring an image of a light spot generated by the reflecting surface reflecting the pulse light to a target plate; determining the light-emitting time of the pulse light corresponding to the target position of the light spot in the image as a first time corresponding to a first reflecting surface; calculating the time corresponding to other reflecting surfaces; adjusting the frequency of the pulse light emitted by the laser to match the preset rotating speed; capturing images of light spots generated by the reflecting surfaces reflecting the pulse light to the target plate; calculating the included angle between the light spots corresponding to the reflecting surfaces according to the positions of the light spots corresponding to the reflecting surfaces and the angular resolution of an image acquisition device; and determining the angle calibration value of the reflecting surfaces relative to the first reflecting surface according to the included angle. The embodiment of the application can improve the pointing accuracy of the laser radar light beam.

The present invention discloses a wheeled odometer calibration method and a laser radar external parameter calibration method. The calibration method calculates a position correction proportional coefficient α through a position calibration method and a posture correction proportional coefficient β through a posture calibration method. The calculated position correction proportional coefficient α and posture correction proportional coefficient β are used to obtain a wheeled odometer A according to the wheel speed and are calibrated and corrected by calculating α and β. The external parameter calibration method obtains the calibrated wheeled odometer A, obtains laser point cloud data at two adjacent moments through a laser radar, matches the two laser point cloud data, and estimates the speed and position of a differential wheeled robot to obtain a laser odometer B. Multiple sets of wheeled odometers A and laser odometers B are collected and jointly calibrated to obtain an optimal rotation matrix and an optimal translation matrix, thereby obtaining the required relationship values ​​to complete the joint calibration. The method of the present invention has low requirements for the calibration environment, can improve accuracy, and effectively simplifies the laser radar calibration process.

The invention relates to the technical field of radar calibration, and discloses a single-line laser radar calibration method, device and equipment and a readable storage medium. The method comprises the following steps: placing a single-line laser radar in a preset calibration room, obtaining a first source point cloud obtained by scanning the preset calibration room by the single-line laser radar, and obtaining a target point cloud corresponding to the preset calibration room; based on the source point cloud and the target point cloud, a reference extrinsic parameter matrix of the single-line laser radar is determined in combination with an iterative nearest point algorithm; acquiring a second source point cloud obtained by scanning the preset calibration room by the single-line laser radar, and fusing the second source point cloud and the target point cloud based on the reference extrinsic parameter matrix to obtain a fused point cloud; and if the fused point cloud meets the preset condition, calibrating the reference extrinsic parameter matrix as a target extrinsic parameter matrix of the single-line laser radar. Depending on manual operation, radar motion or a specific target plate for calibration is avoided, calibration complexity is reduced, manual subjectivity is prevented from influencing a calibration result, and robustness of single-line laser radar calibration is improved.