Detecting metro gauge is very important for the safe operation of the subway. In this study, we design a low-cost metro tunnel mobile scanning system (MDS-TJ-1), which integrates a laser profile scanner with an inertial measure unit and an odometer to provide positioning and attitude parameters of the trajectory. The Lagrange interpolation is used to accomplish the time unification of different sensors. A dynamic alignment scheme for profile scanner is proposed based on the designed plane reflector target with high reflectivity. The error accumulation of the odometer is corrected by recognising the tunnel longitudinal joints, and finish the multi-source data fusion. The horizontal ray method is developed to process the metro gauge inspection. The experiment results show that the alignment accuracy of scanner is within 8 mm, the inner coincidence of the point cloud is within 3 cm, and the average error of the gauge inspection is 7.8 mm.

检测地铁轨距对于地铁的安全运行非常重要。在这项研究中，我们设计了一种低成本的地铁隧道移动扫描系统（MDS-TJ-1），该系统将激光轮廓扫描仪与惯性测量单元和里程表集成在一起，以提供轨迹的定位和姿态参数。拉格朗日插值用于完成不同传感器的时间统一。提出了一种基于高反射率平面反射镜目标的轮廓扫描仪动态对准方案。通过识别隧道纵向缝隙来校正里程表的误差累积，并完成多源数据融合。开发水平射线方法来处理地铁轨距检查。实验结果表明，扫描仪的对准精度在8mm以内，