In-Pipe Localization of Tools Using Signal Profiles

A system for estimating location of features in a pipeline, the system comprising:

• a device comprising a plurality of electromagnetic sensors, the device sized and shaped to be deployed and travel in the pipeline;
• at least one processor;
• and
• a memory storing instructions that when executed by the at least one processor cause the at least one processor to perform operations comprising:
• acquiring measurements of signals from the plurality of electromagnetic sensors;
• detecting welds in walls of the pipeline based on the measurements of the signals;
• estimating an instantaneous velocity of the device as the device passes welds based at least in part on characteristics of the measurements of the signals from the plurality of electromagnetic sensors;
• and
• estimating position of the device in the pipeline based at least in part on the estimates of the instantaneous velocity of the device over time.