Abstract: In order to solve the problem of high precision distance and angle measurement of lidar with large measurement range, a twostep calibration method of lidar sensor based on calibration field is proposed in this paper. Based on the analysis of the angle measurement error and the distance measurement error of lidar, an error correction model is proposed in this paper. This model separates the distance correction from the angle correction. First, the calibration field is used to complete the angle calibration, and the external parameters are also calculated in this step. Second, the baseline field is used to complete the distance calibration. This method reduces the correlation between the distance calibration parameters and the angle calibration parameters, and guarantees the calibration precision and accuracy. The experimental results show that the method is reasonable and effective, and is able to complete the high precision calibration of lidar.

Key words: lidar, twostep calibration, calibration field