{
  "$type": "site.standard.document",
  "description": "Systems and methods for localizing a traveling device in a pipeline include a traveling device comprising a plurality of electromagnetic sensors and an inertial measurement unit; acquiring a plurality of measurements from the inertial measurement unit; estimating a velocity and an orientation of…",
  "path": "/patents/1369310",
  "publishedAt": "2024-09-19T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "F16L55/48",
    "Saudi Arabian Oil Company"
  ],
  "textContent": "Systems and methods for localizing a traveling device in a pipeline include a traveling device comprising a plurality of electromagnetic sensors and an inertial measurement unit; acquiring a plurality of measurements from the inertial measurement unit; estimating a velocity and an orientation of the traveling device based on the plurality of measurements from the inertial measurement unit; acquiring a plurality of measurements from the plurality of electromagnetic sensors; detecting a plurality of landmarks of the pipeline based on the plurality of measurements from the plurality of electromagnetic sensors; calculating an average velocity of the traveling device based on the detected plurality of landmarks; and determining a location and an orientation of the traveling device based on the estimated velocity, the estimated orientation, and the calculated average velocity.",
  "title": "IN-PIPE LOCALIZATION OF PIPELINE INSPECTION GADGETS"
}