Aiming at the problem that the current mobile robots have low accuracy for the construction of environmental maps, the calibration methods of ranging and angle measurement of LiDAR were proposed respectively. The error propagation law was used to analyze the ranging error factor of the LiDAR. It can be seen that the LiDAR ranging error was mainly caused by the echo intensity and the measuring distance, and the ranging error correction model was derived. By analyzing the error factors of LiDAR angle measurement, a triangulation calibration method was proposed for the error caused by the eccentricity of the mechanical scanning axis and the geometric rotation center, and the angle error correction model was established. The mobile robot coordinate conversion system was modified according to the LiDAR ranging and the angle correction model. The experimental results show that the standardization of the distance measurement increases the standard deviation of the longitudinal coordinate difference of the plane obstacle data by 30%-60%, which is close to the real geometric feature of the object. The angle measurement method improves the coincidence effect of the obstacle data by 30%. The accuracy of map construction of mobile robots is improved using the calibration method.