摘要：AbstractPipeline is one of the most important tools to transport gases or liquid substances from the starting point to the destination. There are large numbers of small diameter pipelines under urban areas, which require to be inspected regularly to prevent their leakage. Pipeline Inspection Gauge (PIG) carries the pipeline defects detection sensors and localization sensors to discover the pipeline defects and the corresponding positions by its spiral motion inside the inspected pipeline. The low-accuracy property of Micro-Electro-Mechanical System (MEMS) based inertial sensors is the main limitation that influences the positioning precision of pipeline defects. This paper studies a method to enhance the positioning precision of MEMS Strap-down Inertial Navigation System (SINS) aided pipeline surveying system by pipeline junction detection to correct the azimuth and pitch errors induced PIG positioning error. The verification experiment results show that the positioning precision of MEMS SINS aided pipeline surveying system would improve about 54.42% after adding azimuth and pitch errors correction in each straight pipeline segment with the pipeline junction detection result.
