초록 ▼

A pipeline inspection and defect mapping system includes a pig having an inertial measurement unit and a pipeline inspection unit for recording pig location and defect detection events, each record time-stamped by a highly precise onboard clock. The system also includes several magloggers at precise

A pipeline inspection and defect mapping system includes a pig having an inertial measurement unit and a pipeline inspection unit for recording pig location and defect detection events, each record time-stamped by a highly precise onboard clock. The system also includes several magloggers at precisely known locations along the pipeline, each containing a fluxgate magnetometer for detecting the passage of the pig along the pipeline and further containing a highly precise clock synchronized with the clock in the pig. The locations of the various magloggers are known in a north/east/down coordinate system through a differential global positioning satellite process. Finally, a postprocessing off-line computer system receives downloaded maglogger, inertial measurement, and odometer data and through the use of several Kalman filters, derives the location of the detected defects in the north/east/down coordinate frame. Consequently, a task of identifying sites for repair activity is much simplified.

대표청구항 ▼

[ What is claimed is:] [1.]1. A system for inspecting a pipeline and for mapping a defect within the pipeline, the system comprising:a pig insertable within the pipeline, the pig having a kinematic property sensor generating kinematic property sensor data and a defect/anomaly inspection unit generat

[ What is claimed is:] [1.]1. A system for inspecting a pipeline and for mapping a defect within the pipeline, the system comprising:a pig insertable within the pipeline, the pig having a kinematic property sensor generating kinematic property sensor data and a defect/anomaly inspection unit generating defect/anomaly inspection data, the kinematic property sensor having unknown initial conditions;a maglogger at a known location external to and in close proximity with the pipeline, the maglogger containing a device for detecting the passage of the pig along the pipeline, the maglogger generating maglogger data; anda computer system configured to receive maglogger data and kinematic property sensor data, and to combine maglogger data with kinematic property sensor data to derive the location of the detected defects and to determine initial conditions of the kinematic property sensor.