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dc.contributor.advisorEl-Sheimy, Naser
dc.contributor.authorSahli, Hussein
dc.date.accessioned2016-05-05T17:47:44Z
dc.date.available2016-05-05T17:47:44Z
dc.date.issued2016
dc.date.submitted2016en
dc.identifier.citationSahli, H. (2016). MEMS-based Aided Inertial Navigation System for Small Diameter Pipelines (Unpublished doctoral thesis). University of Calgary, Calgary, AB. doi:10.11575/PRISM/26878en_US
dc.identifier.urihttp://hdl.handle.net/11023/2981
dc.description.abstractPipeline Inspection Gauges (pigs) have been used for many years to perform various maintenance operations in oil and gas pipelines. Different pipeline parameters can be inspected during the pig journey. Although, pigs uses many sensors to detect the required pipeline parameters, matching these data with the corresponding pipeline location is considered a very important parameter that needs to be estimated. High-end, tactical-grade Inertial Measurement Units (IMUs) are used in pigging applications to locate the detected problems of pipeline using other sensors, and to reconstruct the trajectories of the pig. These IMUs are accurate; however, their high cost and large sizes limit their use in small diameter pipelines. Calibration would improve the accuracy of the uncertainties that exist in sensor errors behavior. However, intensive calibration would also increase the cost of using IMUs. Therefore, another way to improve the accuracy is used by augmenting IMU with aided sensors (i.e. odometers). This thesis describes a new methodology for the use of low-cost IMUs using an extended Kalman filter (EKF) and the pipeline junctions to increase the navigation parameters’ accuracy and to reduce the total RMS errors even during the unavailability of Above Ground Markers (AGMs). The results of this new proposed method using micro-electro-mechanical systems (MEMS) based IMU revealed that the position RMS errors were reduced by approximately 85% of the standard EKF solution. Therefore, this approach will enable the mapping of small diameter pipelines, which was not possible before.en_US
dc.language.isoeng
dc.rightsUniversity of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.
dc.subjectEngineering--Industrial
dc.subjectEngineering--Petroleum
dc.subjectGeotechnology
dc.subject.classificationInertial Navigationen_US
dc.subject.classificationPipelineen_US
dc.subject.classificationPipeline Inspection Gaugeen_US
dc.subject.classificationPiggingen_US
dc.subject.classificationKalman Filteren_US
dc.subject.classificationEKFen_US
dc.subject.classificationPLJen_US
dc.titleMEMS-based Aided Inertial Navigation System for Small Diameter Pipelines
dc.typedoctoral thesis
dc.publisher.facultyGraduate Studies
dc.publisher.institutionUniversity of Calgaryen
dc.identifier.doihttp://dx.doi.org/10.11575/PRISM/26878
thesis.degree.nameDoctor of Philosophy
thesis.degree.namePhD
thesis.degree.disciplineGeomatics Engineering
thesis.degree.grantorUniversity of Calgary
atmire.migration.oldid4277
dc.contributor.committeememberTarbouchi, Mohammed
dc.contributor.committeememberGao, Yang
dc.contributor.committeememberNoureldin, Aboelmagd
dc.contributor.committeememberEl-Badry, Mamdouh
dc.publisher.placeCalgaryen
ucalgary.item.requestcopytrue


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University of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.