Improve the localization accuracy of `hector_mapping`

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I have a rplidar A2, I want to use it to provide localization information for my robot. I designed a track like the photo below, and the lidar will be moved 1 meter along the track every time I test. If the hector_mapping localization information is accurate, the trajectory observed in rviz will have a high degree of coincidence with the the x-axis. However, I tested it many times and got the following trajectories, the result shows that the localization error is relatively large.

And this is the output of slam_out_pose(The ideal value should be around (1,0), and he scan angle of the lidar is 360 degrees):

angel:360° x:0.97938 y:-0.20699

angel:360° x:0.98554 y:-0.16751

angel:360° x:1.00000 y:-0.07292

angel:360° x:0.98748 y:-0.17034

angel:360° x:0.93154 y:-0.37575

angel:360° x:0.96340 y:-0.28293

Also attach the launch file I use.

Is there a way to improve the localization accuracy of hector_mapping?

<?xml version="1.0"?>
<launch>
  <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
  <arg name="base_frame" default="base_link"/>
  <arg name="odom_frame" default="base_link"/>
  <arg name="pub_map_odom_transform" default="true"/>
  <arg name="scan_subscriber_queue_size" default="5"/>
  <arg name="scan_topic" default="scan"/>
  <arg name="map_size" default="2048"/>

  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">

    <!-- Frame names -->
    <param name="map_frame" value="map" />
    <param name="base_frame" value="$(arg base_frame)" />
    <param name="odom_frame" value="$(arg base_frame)" />

    <!-- Tf use -->
    <param name="use_tf_scan_transformation" value="true"/>
    <param name="use_tf_pose_start_estimate" value="false"/>
    <param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>

    <!-- Map size / start point -->
    <param name="map_resolution" value="0.050"/>
    <param name="map_size" value="$(arg map_size)"/>
    <param name="map_start_x" value="0.5"/>
    <param name="map_start_y" value="0.5" />
    <param name="map_multi_res_levels" value="2" />

    <!-- Map update parameters -->
    <param name="update_factor_free" value="0.4"/>
    <param name="update_factor_occupied" value="0.9" />    
    <param name="map_update_distance_thresh" value="0.4"/>
    <param name="map_update_angle_thresh" value="0.06" />
    <param name="laser_z_min_value" value = "-1.0" />
    <param name="laser_z_max_value" value = "1.0" />

    <!-- Advertising config -->
    <param name="advertise_map_service" value="true"/>
    <param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
    <param name="scan_topic" value="$(arg scan_topic)"/>

    <param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
  </node>

  <node pkg="tf" type="static_transform_publisher" name="base_frame_laser" args="0 0 0 0 0 0 /base_link /laser_link 10"/>
</launch>