Track gauge measuring system, measuring method and metering calibration method

Abstract

The invention discloses a track gauge measuring system, a measuring method and a metering calibration method.The track gauge measuring system is installed at the bottom of a track detection vehicle through a bearing beam and comprises a detection beam, a left rotating device, a right rotating device, a left point laser distance measuring sensor, a right point laser distance measuring sensor, a left acceleration sensor and a right acceleration sensor; the detection beam is arranged at the bottom of the bearing beam in parallel; the two rotating devices are arranged at the left end and the right end of the front side of the detection beam respectively, the two laser distance measuring sensors are arranged on the two rotating devices respectively, and the two rotating devices are used for adjusting the angles of the two laser distance measuring sensors respectively, so that laser emitting points of the two laser distance measuring sensors are located at the positions 16 mm below the rail surface of a right steel rail and the rail surface of a left steel rail when the track detection vehicle is static; the two acceleration sensors are arranged at the left end and the right end of the rear side of the detection beam respectively and used for detecting the transverse acceleration and the longitudinal acceleration of the two laser distance measuring sensors respectively. The track gauge can be accurately measured, and an original track gauge measuring system can be calibrated.

Description

Technical Field

[0001] The present invention relates to the technical field of rail transit equipment measurement and detection, and in particular to a track gauge measurement system, a measurement method, and a measurement calibration method. Background Art

[0002] With the rapid development of my country's rail transit industry, the rail transit system has increased its operating speed, construction mileage has increased, and the lines have become increasingly busy, and the wheel-rail dynamics have increased. This has led to various unevenness, surface wear and defects in the track, which have an impact on the stability and comfort of rail vehicles and may cause derailment, overturning and other malicious incidents. Therefore, the operating status of the track detection system directly determines the safe operation of the train.

[0003] At present, the track gauge detection in track inspection is generally carried out using two-dimensional laser scanners and inertial reference methods, and its accuracy needs to be improved. In addition, the detection system needs to be calibrated regularly to verify the accuracy of the detection system itself, more accurately measure the various geometric parameters of the rails, and ensure the safety and stability of subway train operation. At present, the track gauge measurement system on the track inspection vehicle in the domestic urban rail transit industry is complex to install and is highly integrated with the track inspection vehicle structure. The disassembly process is not only time-consuming and labor-intensive, but also easily has an adverse effect on the installation accuracy and service life of the system. Therefore, it can be said that the disassembly and inspection of the track gauge measurement system is very troublesome, and the inspection process takes a long time, which directly affects the inspection and maintenance of rail transit. Summary of the invention

[0004] In view of the above problems, the present invention aims to provide a track gauge measurement system, a measurement method, and a metrology calibration method.

[0005] The technical solution of the present invention is as follows:

[0006] On the one hand, a track gauge measurement system is provided, which is installed on the bottom of a track detection vehicle through a load-bearing beam, and includes a detection beam, a left rotation device, a right rotation device, a left point laser ranging sensor, a right point laser ranging sensor, a left acceleration sensor, and a right acceleration sensor;

[0007] The detection beam is arranged parallel to the bottom of the load-bearing beam and connected to the bottom of the load-bearing beam;

[0008] The left rotating device is arranged at the left end of the front side of the detection beam, and the left point laser ranging sensor is arranged on the left rotating device. The left rotating device is used to adjust the angle of the left point laser ranging sensor so that the laser emission point of the left point laser ranging sensor is located 16 mm below the right rail surface when the track detection vehicle is stationary;

[0009] The right rotating device is arranged at the right end of the front side of the detection beam, and the right point laser ranging sensor is arranged on the right rotating device. The right rotating device is used to adjust the angle of the right point laser ranging sensor so that the laser emission point of the right point laser ranging sensor is located 16 mm below the left rail surface when the track detection vehicle is stationary;

[0010] The left acceleration sensor and the right acceleration sensor are respectively arranged at the left and right ends of the rear side of the detection beam, and are used to detect the lateral and longitudinal accelerations of the left point laser ranging sensor and the right point laser ranging sensor respectively.

[0011] Preferably, the detection beam and the load-bearing beam are detachably connected.

[0012] Preferably, both the left rotating device and the right rotating device adopt a manual rotating platform.

[0013] Preferably, it further comprises a data acquisition system, which is respectively connected to the left point laser ranging sensor, the right point laser ranging sensor, the left acceleration sensor and the right acceleration sensor, and is used to collect data detected by each sensor.

[0014] On the other hand, a track gauge measurement method is also provided, which is measured using any of the track gauge measurement systems described above, and the track gauge measurement method comprises the following steps:

[0015] S1: When the track inspection vehicle is stationary, the angles of the left laser distance measuring sensor and the right laser distance measuring sensor are adjusted by the left rotating device and the right rotating device respectively, so that the laser emission points of the two are respectively located 16 mm below the right rail surface and the left rail surface; the angles α of the left laser distance measuring sensor and the right laser distance measuring sensor with the horizontal direction are recorded. 01 , α 02 , the distance d between the left laser ranging sensor origin and the right laser ranging sensor origin, the distance l detected by the left laser ranging sensor and the right laser ranging sensor respectively 01 , l 02 , and calculate the initial track gauge value l0 at this time;

[0016] The track detection vehicle is started, and the acceleration of the left laser ranging sensor and the right laser ranging sensor are detected by the left acceleration sensor and the right acceleration sensor respectively, and the displacements a1 and a2 of the left laser ranging sensor and the right laser ranging sensor in the y-axis direction and the displacements b1 and b2 of the left laser ranging sensor and the right laser ranging sensor in the x-axis direction are calculated; and the distances l1 and l2 detected by the left laser ranging sensor and the right laser ranging sensor respectively are recorded at this time;

[0017] S2: Calculate the size change values ​​n1 and n2 of the left point laser distance measuring sensor and the right point laser distance measuring sensor caused only by the unevenness of the track gauge during the movement of the track inspection vehicle according to the parameters obtained after the track inspection vehicle is started;

[0018] S3: Calculate the track gauge change Δx according to the size change values ​​n1 and n2 of the left laser distance measuring sensor and the right laser distance measuring sensor caused only by the track gauge irregularity;

[0019] S4: The initial track gauge value l0 and the track gauge change amount Δx are summed to obtain a real-time track gauge value l.

[0020] Preferably, in step S1, the initial track gauge value l0 is calculated by the following formula:

[0021] l0=l 01 *cosα 01 +l 02 *cosα 02 -d (1)

[0022] In step S2, the size change values ​​n1 and n2 of the left point laser ranging sensor and the right point laser ranging sensor caused only by the uneven track gauge are calculated by the following formulas:

[0023]

[0024]

[0025] Wherein: θ1 is the angle between the right rail side and the vertical direction; θ2 is the angle between the left laser ranging sensor and the right rail side when the left laser ranging sensor performs y-axis displacement; θ3 is the angle between the right rail side and the horizontal direction; θ4 is the angle between the left laser ranging sensor and the right rail side when the left laser ranging sensor performs x-axis displacement; θ5 is the angle between the left rail side and the vertical direction; θ6 is the angle between the right laser ranging sensor and the left rail side when the right laser ranging sensor performs y-axis displacement; θ7 is the angle between the left rail side and the horizontal direction; θ8 is the angle between the right laser ranging sensor and the left rail side when the right laser ranging sensor performs x-axis displacement; θ is the roll angle of the left laser ranging sensor and the right laser ranging sensor;

[0026] In step S3, the track gauge change Δx is calculated by the following formula:

[0027]

[0028] Where: β is the angle between the rail cone and the horizontal direction.

[0029] On the other hand, a method for measuring and calibrating a track gauge measurement system is also provided, comprising the following steps:

[0030] Measuring the track gauge using any one of the track gauge measurement systems or any one of the track gauge measurement methods described above to obtain a track gauge measurement value after data compensation;

[0031] The original track gauge measurement system is used to measure the track gauge to obtain the original track gauge measurement value;

[0032] Calculating the uncertainty U between the two track gauge measurement systems according to the track gauge measurement value after data compensation and the original track gauge measurement value;

[0033] The deviation range of the two systems is determined according to the uncertainty U, and the parameters of the original track gauge measurement system are adjusted according to the deviation range, so as to calibrate the original track gauge measurement system.

[0034] Preferably, the uncertainty U is calculated by the following formula:

[0035]

[0036] Where: G s，i is the track gauge measurement value after data compensation in the i-th measurement; G m，i is the original track gauge measurement value during the i-th measurement; n is the number of measurements.

[0037] The beneficial effects of the present invention are:

[0038] The present invention adopts a point laser ranging sensor and an acceleration sensor, which can not only accurately detect the track gauge, but also dynamically calibrate the original track gauge measurement system, especially the original track gauge measurement system that cannot be disassembled from the track inspection vehicle. It has a wide range of application scenarios and can adapt to various track operation scenarios. Whether it is a conventional track or a special track such as a high-speed railway or a subway, it can achieve rapid deployment and precise measurement, and is particularly suitable for scenarios with high requirements on the dynamic performance of the track. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0040] Figure 1 It is a schematic diagram of the overall structure of the track gauge measurement system of the present invention;

[0041] Figure 2 It is a front view structural schematic diagram of the track gauge measurement system of the present invention;

[0042] Figure 3 It is a schematic flow chart of the track gauge measurement method of the present invention;

[0043] Figure 4 It is a schematic diagram of the process of obtaining displacement using acceleration;

[0044] Figure 5 It is a schematic diagram of the state when only the track gauge is uneven;

[0045] Figure 6 It is a schematic diagram of the state of the left laser ranging sensor when only the vertical vibration of the train is considered;

[0046] Figure 7 It is a schematic diagram of the state of the left laser ranging sensor when only the lateral vibration of the train is considered;

[0047] Figure 8 This is a schematic diagram of the status of the left laser ranging sensor when only the train rolls.

[0048] Numbers in the figure: 1-left rail, 2-left point laser ranging sensor, 3-left rotation device, 4-bearing beam, 5-left acceleration sensor, 6-right acceleration sensor, 7-right point laser ranging sensor, 8-detection beam, 9-wheel, 10-secondary suspension system, 11-right rail, 12-host computer, 13-microcontroller. DETAILED DESCRIPTION

[0049] The present invention is further described below in conjunction with the accompanying drawings and embodiments. It should be noted that, in the absence of conflict, the embodiments in this application and the technical features in the embodiments can be combined with each other. It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as those generally understood by those of ordinary skill in the art to which this application belongs. The words "including" or "comprising" and the like used in the disclosure of the present invention mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0050] On the one hand, if Figure 1-2 As shown, the present invention provides a track gauge measurement system, which is installed on the bottom of a track detection vehicle through a load-bearing beam 4, and includes a detection beam 8, a left rotation device 3, a right rotation device, a left point laser ranging sensor 2, a right point laser ranging sensor 7, a left acceleration sensor 5 and a right acceleration sensor 6;

[0051] The detection beam 8 is arranged parallel to the bottom of the load-bearing beam 4 and is connected to the bottom of the load-bearing beam 4;

[0052] The left rotating device 3 is arranged at the left end of the front side of the detection beam 8, and the left point laser ranging sensor 2 is arranged on the left rotating device 3. The left rotating device 3 is used to adjust the angle of the left point laser ranging sensor 2 so that the laser emission point of the left point laser ranging sensor 2 is located 16 mm below the rail surface of the right rail 11 when the track inspection vehicle is stationary;

[0053] The right-rotating device is arranged at the right end of the front side of the detection beam 8, and the right-point laser ranging sensor 7 is arranged on the right-rotating device. The right-rotating device is used to adjust the angle of the right-point laser ranging sensor 7 so that the laser emission point of the right-point laser ranging sensor 7 is located 16 mm below the rail surface of the left rail 1 when the track detection vehicle is stationary;

[0054] The left acceleration sensor 5 and the right acceleration sensor 6 are respectively arranged at the left and right ends of the rear side of the detection beam 8, and are used to detect the lateral and longitudinal accelerations of the left point laser ranging sensor 2 and the right point laser ranging sensor 7 respectively.

[0055] In the present invention, the acceleration values ​​monitored by the acceleration sensor are processed to obtain the displacement values ​​of the laser in the horizontal and vertical directions, so as to realize compensation and correction of the numerical value changes of the left and right laser ranging sensors caused by the vertical vibration and rolling of the vehicle body, so that the numerical value change of the laser is only affected by the unevenness of the track gauge. When the numerical value change of the laser caused only by the unevenness of the track gauge during the movement of the vehicle body is obtained, the track gauge change is converted through its numerical change, and finally the real-time track gauge detection of the rail is realized.

[0056] It should be noted that, in order for the acceleration sensor to detect lateral and longitudinal acceleration, the left acceleration sensor 5 and the right acceleration sensor 6 of the present invention may adopt two-axis or three-axis acceleration sensors, or may adopt two separate single-axis sensors, one for detecting lateral acceleration and the other for detecting longitudinal acceleration.

[0057] In a specific embodiment, the detection beam 8 is detachably connected to the load-bearing beam 4. It should be noted that, in addition to the detachable connection between the detection beam 8 and the load-bearing beam 4, the acceleration sensor and the detection beam 8, the rotating device and the detection beam 8, and the rotating device and the point laser ranging sensor are also detachably connected, so that the present invention can be easily disassembled and assembled, and is more convenient for the maintenance and replacement of various components, and can perform online calibration of the existing track gauge measurement system that cannot be easily disassembled.

[0058] In a specific embodiment, the left rotating device 3 and the right rotating device both use a manual rotating platform. In a specific embodiment, a manual rotating platform with a table diameter of 90 mm of the OMXB-B series of Red Star Yang Technology is used.

[0059] It should be noted that the manual rotating platform is a prior art. In addition to the manual rotating platform used in the above embodiment, other manual rotating platforms in the prior art can also be applied to the present invention. In addition, the function of the rotating device in the present invention is to adjust the angle of the point laser ranging sensor. Other rotating devices that can achieve this purpose can also be applied to the present invention.

[0060] In a specific embodiment, the track gauge measurement system also includes a data acquisition system, which is respectively connected to the left point laser ranging sensor 2, the right point laser ranging sensor 7, the left acceleration sensor 5 and the right acceleration sensor 6, and is used to collect data detected by each sensor.

[0061] In a specific embodiment, the track gauge measurement system further includes a data processing system, and the data processing system can process the data collected by the data collection system to obtain the final track gauge. Optionally, the data processing system includes a host computer.

[0062] On the other hand, Figure 3 As shown, the present invention also provides a track gauge measurement method, which uses any of the above-mentioned track gauge measurement systems for measurement, and the track gauge measurement method comprises the following steps:

[0063] S1: When the track inspection vehicle is stationary, the angles of the left laser ranging sensor 2 and the right laser ranging sensor 7 are adjusted by the left rotating device 3 and the right rotating device respectively, so that the laser emission points of the two are respectively located 16 mm below the right rail surface and the left rail surface; the angles α of the left laser ranging sensor 2 and the right laser ranging sensor 7 with the horizontal direction are recorded at this time. 01 , α 02 , the distance d between the left laser ranging sensor origin and the right laser ranging sensor origin, the distance l detected by the left laser ranging sensor 2 and the right laser ranging sensor 7 respectively 01 , l 02 , and the initial track gauge value l0 at this time is calculated by the following formula:

[0064] l0=l 01 *cosα 01 +l 02 *cosα 02 -d (1)

[0065] Start the track inspection vehicle, detect the acceleration of the left point laser ranging sensor 2 and the right point laser ranging sensor 7 respectively through the left acceleration sensor 5 and the right acceleration sensor 6, and calculate the displacement a1 and a2 of the left point laser ranging sensor 2 and the right point laser ranging sensor 7 in the y-axis direction and the displacement b1 and b2 in the x-axis direction; record the distances l1 and l2 detected by the left point laser ranging sensor 2 and the right point laser ranging sensor 7 respectively at this time.

[0066] It should be noted that calculating the displacement of the sensor by measuring the acceleration is a prior art, specifically, Figure 4 As shown, through frequency domain integral transformation, the acceleration signal in the time domain is first subjected to discrete Fourier transform to obtain a velocity signal, and then the velocity signal is integrated using a polynomial fitting integral algorithm and a linear error term is fitted to obtain a displacement signal.

[0067] S2: According to the parameters obtained after the track inspection vehicle is started, the following formula is used to calculate the size change values ​​n1 and n2 of the left point laser ranging sensor and the right point laser ranging sensor caused only by the uneven track gauge during the movement of the track inspection vehicle:

[0068]

[0069] Wherein: θ1 is the angle between the right rail side and the vertical direction; θ2 is the angle between the left laser ranging sensor and the right rail side when the left laser ranging sensor performs y-axis displacement; θ3 is the angle between the right rail side and the horizontal direction; θ4 is the angle between the left laser ranging sensor and the right rail side when the left laser ranging sensor performs x-axis displacement; θ5 is the angle between the left rail side and the vertical direction; θ6 is the angle between the right laser ranging sensor and the left rail side when the right laser ranging sensor performs y-axis displacement; θ7 is the angle between the left rail side and the horizontal direction; θ8 is the angle between the right laser ranging sensor and the left rail side when the right laser ranging sensor performs x-axis displacement; θ is the roll angle of the left laser ranging sensor and the right laser ranging sensor.

[0070] In the present invention, the calculation method of the size change values ​​n1 and n2 of the left point laser ranging sensor and the right point laser ranging sensor caused only by the unevenness of the track gauge is specifically derived by the following steps:

[0071] When the track inspection vehicle is moving, the value changes of the left and right laser ranging sensors caused by the vertical vibration and rolling of the vehicle body during the movement will be compensated and corrected, so that the value changes of the laser are finally affected only by the unevenness of the track gauge. The schematic diagram of the influence of uneven track gauge is shown in the figure. Figure 5 shown.

[0072] There are two two-axis accelerometers behind the left and right laser ranging sensors to monitor the lateral and longitudinal acceleration of the two lasers in real time. In addition, the vertical vibration and roll of the vehicle body are generally coupled, and this change process can be decomposed into three steps of state change:

[0073] First, if Figure 6 As shown, only the displacement of the left laser ranging sensor in the y-axis direction is considered. The displacement of the left laser ranging sensor in the y-axis direction is calculated to be a1 through the left accelerometer data. Then the trigonometric sine theorem is used to calculate that the laser value of the left laser ranging sensor will change by a1*sinθ1 / sinθ2 for every a1 movement of the left laser ranging sensor in the y-axis direction.

[0074] Then, if Figure 7 As shown, only the displacement of the left laser ranging sensor in the x-axis direction is considered. The displacement of the left laser ranging sensor in the x-axis direction is calculated to be b1 through the accelerometer data. Then, the trigonometric sine theorem is used to calculate that the laser value of the left laser ranging sensor will change by b1*sinθ3 / sinθ4 for every b1 movement of the left laser ranging sensor in the x-axis direction.

[0075] like Figure 8 As shown in FIG. 1 , after the displacement transformation, the rotation transformation is considered, and it can be known that the angle of the rotation transformation is equal to the roll angle, and the roll angle is calculated by formula (4). Similarly, the numerical change caused by the rotation angle can be calculated according to the trigonometric sine theorem.

[0076] By considering the y-axis displacement, x-axis displacement and roll, the value change of the left point laser ranging sensor caused by the vertical vibration and roll of the vehicle body can be calculated as follows:

[0077]

[0078] Similarly, the value change of the right laser ranging sensor caused by the vertical vibration and rolling of the vehicle body under the same conditions can be calculated as:

[0079]

[0080] The numerical changes obtained above are compensated, leaving only the numerical changes of the left and right laser ranging sensors caused by the uneven track gauge. The value of the left laser ranging sensor after compensation (the value of the change in the size of the left laser ranging sensor caused only by the uneven track gauge n1) is shown in formula (2), and the value of the right laser ranging sensor after compensation (the value of the change in the size of the right laser ranging sensor caused only by the uneven track gauge n2) is shown in formula (3).

[0081] S3: The track gauge change Δx is calculated by the following formula according to the size change values ​​n1 and n2 of the left laser distance measuring sensor and the right laser distance measuring sensor caused only by the track gauge irregularity:

[0082]

[0083] Where: β is the angle between the rail cone and the horizontal direction.

[0084] S4: The initial track gauge value l0 and the track gauge change amount Δx are summed to obtain a real-time track gauge value l.

[0085] On the other hand, Figure 4 As shown, the present invention also provides a method for measuring and calibrating a track gauge measurement system, comprising the following steps:

[0086] Measuring the track gauge using any one of the track gauge measurement systems or any one of the track gauge measurement methods described above to obtain a track gauge measurement value after data compensation;

[0087] The original track gauge measurement system is used to measure the track gauge to obtain the original track gauge measurement value;

[0088] The uncertainty U between the two gauge measurement systems is calculated according to the data-compensated gauge measurement value and the original gauge measurement value by the following formula:

[0089]

[0090] Where: G s，i is the track gauge measurement value after data compensation in the i-th measurement; G m，i is the original track gauge measurement value during the i-th measurement; n is the number of measurements;

[0091] The deviation range of the two systems is determined according to the uncertainty U, and the parameters of the original track gauge measurement system are adjusted according to the deviation range, so as to calibrate the original track gauge measurement system.

[0092] In summary, the present invention adopts a point laser ranging sensor in combination with an acceleration sensor and adopts a multivariate data fusion method, so that the present invention can measure the track gauge more accurately. Compared with the existing two-dimensional laser scanner and inertial reference method, the measurement accuracy is higher, especially in the detection of complex track deformation, it has significant advantages.

[0093] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A track gauge measurement system, mounted on the bottom of a track inspection vehicle through a load-bearing beam, characterized in that: It includes a detection beam, a left rotation device, a right rotation device, a left point laser distance measuring sensor, a right point laser distance measuring sensor, a left acceleration sensor and a right acceleration sensor; The detection beam is arranged parallel to the bottom of the load-bearing beam and connected to the bottom of the load-bearing beam; The left rotating device is arranged at the left end of the front side of the detection beam, and the left point laser ranging sensor is arranged on the left rotating device. The left rotating device is used to adjust the angle of the left point laser ranging sensor so that the laser emission point of the left point laser ranging sensor is located 16 mm below the right rail surface when the track detection vehicle is stationary; The right rotating device is arranged at the right end of the front side of the detection beam, and the right point laser ranging sensor is arranged on the right rotating device. The right rotating device is used to adjust the angle of the right point laser ranging sensor so that the laser emission point of the right point laser ranging sensor is located 16 mm below the left rail surface when the track detection vehicle is stationary; The left acceleration sensor and the right acceleration sensor are respectively arranged at the left and right ends of the rear side of the detection beam, and are used to detect the lateral and longitudinal accelerations of the left point laser ranging sensor and the right point laser ranging sensor respectively.

2. The track gauge measurement system according to claim 1, characterized in that: The detection beam and the bearing beam are detachably connected.

3. The track gauge measurement system according to claim 1, characterized in that: The left rotating device and the right rotating device both adopt a manual rotating platform.

4. The track gauge measurement system according to any one of claims 1 to 3, characterized in that: It also includes a data acquisition system, which is respectively connected to the left point laser ranging sensor, the right point laser ranging sensor, the left acceleration sensor and the right acceleration sensor, and is used to collect data detected by each sensor.

5. A method for measuring track gauge, characterized in that: The track gauge measurement system according to any one of claims 1 to 4 is used for measurement, and the track gauge measurement method comprises the following steps: S1: When the track inspection vehicle is stationary, the angles of the left laser distance measuring sensor and the right laser distance measuring sensor are adjusted by the left rotating device and the right rotating device respectively, so that the laser emission points of the two are respectively located 16 mm below the right rail surface and the left rail surface; the angles α of the left laser distance measuring sensor and the right laser distance measuring sensor with the horizontal direction are recorded. 01 , α 02 , the distance d between the left laser ranging sensor origin and the right laser ranging sensor origin, the distance l detected by the left laser ranging sensor and the right laser ranging sensor respectively 01 , l 02 , and calculate the initial track gauge value l0 at this time; The track detection vehicle is started, and the acceleration of the left laser ranging sensor and the right laser ranging sensor are detected by the left acceleration sensor and the right acceleration sensor respectively, and the displacements a1 and a2 of the left laser ranging sensor and the right laser ranging sensor in the y-axis direction and the displacements b1 and b2 of the left laser ranging sensor and the right laser ranging sensor in the x-axis direction are calculated; and the distances l1 and l2 detected by the left laser ranging sensor and the right laser ranging sensor respectively are recorded at this time; S2: Calculate the size change values ​​n1 and n2 of the left point laser distance measuring sensor and the right point laser distance measuring sensor caused only by the unevenness of the track gauge during the movement of the track inspection vehicle according to the parameters obtained after the track inspection vehicle is started; S3: Calculate the track gauge change Δx according to the size change values ​​n1 and n2 of the left laser distance measuring sensor and the right laser distance measuring sensor caused only by the track gauge irregularity; S4: The initial track gauge value l0 and the track gauge change amount Δx are summed to obtain a real-time track gauge value l.

6. The track gauge measurement method according to claim 5, characterized in that: In step S1, the initial track gauge value l0 is calculated by the following formula: l0=l 01 *cosα 01 +l 02 *cosα 02 -d (1) In step S2, the size change values ​​n1 and n2 of the left point laser ranging sensor and the right point laser ranging sensor caused only by the uneven track gauge are calculated by the following formulas: Wherein: θ1 is the angle between the right rail side and the vertical direction; θ2 is the angle between the left laser ranging sensor and the right rail side when the left laser ranging sensor performs y-axis displacement; θ3 is the angle between the right rail side and the horizontal direction; θ4 is the angle between the left laser ranging sensor and the right rail side when the left laser ranging sensor performs x-axis displacement; θ5 is the angle between the left rail side and the vertical direction; θ6 is the angle between the right laser ranging sensor and the left rail side when the right laser ranging sensor performs y-axis displacement; θ7 is the angle between the left rail side and the horizontal direction; θ8 is the angle between the right laser ranging sensor and the left rail side when the right laser ranging sensor performs x-axis displacement; θ is the roll angle of the left laser ranging sensor and the right laser ranging sensor; In step S3, the track gauge change Δx is calculated by the following formula: Where: β is the angle between the rail cone and the horizontal direction.

7. A method for measuring and calibrating a track gauge measurement system, characterized in that: The following steps are involved: Using the track gauge measurement system described in any one of claims 1 to 4 or the track gauge measurement method described in any one of claims 5 to 6 to measure the track gauge to obtain a track gauge measurement value after data compensation; The original track gauge measurement system is used to measure the track gauge to obtain the original track gauge measurement value; Calculating the uncertainty U between the two track gauge measurement systems according to the track gauge measurement value after data compensation and the original track gauge measurement value; The deviation range of the two systems is determined according to the uncertainty U, and the parameters of the original track gauge measurement system are adjusted according to the deviation range, so as to calibrate the original track gauge measurement system.

8. The method for measuring and calibrating a track gauge measurement system according to claim 7, characterized in that: The uncertainty U is calculated by the following formula: Where: G s，i is the track gauge measurement value after data compensation in the i-th measurement; G m，i is the original track gauge measurement value during the i-th measurement; n is the number of measurements.

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