The aim of this paper is to design an inertial navigation system (INS) for use in a geometry pipe inspection gauge, capable of measuring pipeline movements and producing the line’s 3D map with a reasonable accuracy. A suitable reference path was generated as a design platform. Solving the navigation equations and compensating for the errors, by using extended Kalman filter (EKF) approach, the INS path was generated and its position errors in all three directions were considered. Divergence problems due to far apart GPS position observations, was overcome by defining suitable threshold for the variances of the estimated errors.

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