Pipeline Mapping with Next Generation Spherical In-Line Inspection Tools

The georeferenced alignment of aging pipelines is often inaccurate or unknown. Accurate mapping of pipeline alignment has become increasingly important with modern data-driven pipeline management approaches as utilities look to strategically repair or replace specific pipe sections to extend overall asset life. In practical terms, it has been observed that subsurface utility data classified as Quality Level A and B can lead to a reduction in repair project costs ranging from 10% to 15%. That said, traditional inertial navigation mapping techniques are frequently disruptive and impractical for effectively mapping buried underground infrastructure. Instead, we propose an innovative method utilizing high-performance micro-electro-mechanical systems inertial measurement units (MEMS IMUs) consisting of a gyroscope and accelerometer combination integrated into a rolling spherical in-line inspection tool. This novel approach allows for the accurate mapping of pipelines with minimal disruption to their operation. In this research, we delve into the noise characteristics of commercially available IMUs and their impact on inertial navigation accuracy through a kinematic rolling model. Findings are validated by utilizing real-world pipeline data and comparing our simulated results with utility-provided alignments.