Abstract: A method of tracing a position of a pipeline using a mapping probe includes: inserting and moving the mapping probe in a pipeline; receiving and keeping acceleration information and angular information in real time in a memory; estimating Euler angle (roll and pitch); estimating Euler angle (roll, pitch, and yaw); estimating a system modeling; estimating and applying covariance of system noise and covariance of measured noise; estimating three-dimensional position information modeling; receiving and keeping movement distance information of the mapping probe from an encoder in a memory; estimating and keeping in real time three-dimensional position information of the mapping probe in the memory; receiving the accumulated real-time three-dimensional position information of the mapping probe; mapping the accumulated real-time three-dimensional position information of the mapping probe to geographic information; and displaying the accumulated position information of the mapping probe mapped to the geographic info

Abstract: A Pipe Mapping Probe Apparatus for Searching Pipe Route Position includes: a first disc fitted and fastened on a shaft member thread-fastened to the inner side of a connection shaft at a first side of an internal body of a first pig; a cap coupled to a side of the shaft member outside the first disc; a first pig coupled to the shaft member; elastic members composed of three flexible springs coupled to a second side of an external body of the first pig; a cable that electrically connects a battery, a sensor unit, and a control board of the first pig and an encoder of a second pig, is connected with the battery through a first cable socket coupled to the external body of the first pig, and is connected to an encoder through a second cable socket disposed at the center of the second plate coupled to a first side of the second pig and through an encoder socket on the top of the encoder disposed in an internal body of the second pig; the second pig coupled to second sides of the elastic members at the first side o

Abstract: A method of tracing a position of a pipeline using a mapping probe includes: inserting and moving the mapping probe in a pipeline; receiving and keeping acceleration information and angular information in real time in a memory; estimating Euler angle (roll and pitch); estimating Euler angle (roll, pitch, and yaw); estimating a system modeling; estimating and applying covariance of system noise and covariance of measured noise; estimating three-dimensional position information modeling; receiving and keeping movement distance information of the mapping probe from an encoder in a memory; estimating and keeping in real time three-dimensional position information of the mapping probe in the memory; receiving the accumulated real-time three-dimensional position information of the mapping probe; mapping the accumulated real-time three-dimensional position information of the mapping probe to geographic information; and displaying the accumulated position information of the mapping probe mapped to the geographic info

Abstract: A Pipe Mapping Probe Apparatus for Searching Pipe Route Position includes: a first disc fitted and fastened on a shaft member thread-fastened to the inner side of a connection shaft at a first side of an internal body of a first pig; a cap coupled to a side of the shaft member outside the first disc; a first pig coupled to the shaft member; elastic members composed of three flexible springs coupled to a second side of an external body of the first pig; a cable that electrically connects a battery, a sensor unit, and a control board of the first pig and an encoder of a second pig, is connected with the battery through a first cable socket coupled to the external body of the first pig, and is connected to an encoder through a second cable socket disposed at the center of the second plate coupled to a first side of the second pig and through an encoder socket on the top of the encoder disposed in an internal body of the second pig; the second pig coupled to second sides of the elastic members at the first side o