Method and system for mapping and inspecting live fluid pipes

The system according to any one of the preceding claims, wherein the sensor probe has an aerodynamic shape for reducing interference with a fluid in the pipeline.

The system according to any one of the preceding claims, further comprising an odometer for recording a path travelled by the sensor probe as it is driven through the pipeline.

The system according to any one of the preceding claims, wherein the sensor probe comprises an inertial navigation sensor payload that is provided to collect x, y, and z geospatial data in at least one of a forwards travelling direction and a backwards travelling direction.

The system according to any one of the preceding claims, wherein the sensor probe is configured for use in combination with an above ground locating device, such as through an electromagnetic field generator on or with the sensor probe, for determining at least one location coordinate, such as a start-point coordinate, an end-point coordinate and/or a guide-point coordinate.

The system according to any one of the preceding claims, wherein the tether is a fiber rod.

The system according to any one of the preceding claims, wherein the tether comprises at least one of the following:

• an integrated tracer wire, a two-way data communication line, a power feed.

A non-transitory storage medium storing a real-time or post-processing software which is configured to, when executed on a computer system, merge geospatial data collected by means of the sensor probe defined in any one of the preceding claims, a path travelled by the sensor probe recorded by means of an odometer, and at least one location coordinate determined by means of the sensor probe in combination with an above ground locating device.