{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,17]],"date-time":"2026-03-17T09:16:56Z","timestamp":1773739016628,"version":"3.50.1"},"reference-count":104,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[2017,3,29]],"date-time":"2017-03-29T00:00:00Z","timestamp":1490745600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51675020"],"award-info":[{"award-number":["51675020"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Transactions of the Institute of Measurement and Control"],"published-print":{"date-parts":[[2018,3]]},"abstract":"<jats:p> Inertial mapping unit (IMU) in-line inspection (ILI) has become routine practice for long-distance buried transport pipelines of oil and gas. It is capable of measuring the pipeline centerline position coordinates and locating the pipeline anomalies, features and fittings to help the oil company manage it. The IMU inspection data also can be used to compute the pipeline bending strain and assess the potential deviation from the original position where endures the extra stress. This paper introduces the main principle, measurement and data processing for IMU ILI. As a key point of calculation for centerline and bending strain, the identification and optimization of the signal are also discussed. At the end of this paper, the developments of IMU ILI are presented. The IMU ILI becomes an important and effective method for pipeline integrity management and safe operation of buried oil and gas pipelines. <\/jats:p>","DOI":"10.1177\/0142331216685392","type":"journal-article","created":{"date-parts":[[2017,3,29]],"date-time":"2017-03-29T20:33:46Z","timestamp":1490819626000},"page":"1554-1567","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":21,"title":["Technologies and application of pipeline centerline and bending strain of In-line inspection based on inertial navigation"],"prefix":"10.1177","volume":"40","author":[{"given":"Rui","family":"Li","sequence":"first","affiliation":[{"name":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"},{"name":"Petrochina Pipeline Company, Langfang, China"}]},{"given":"Maolin","family":"Cai","sequence":"additional","affiliation":[{"name":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"}]},{"given":"Yan","family":"Shi","sequence":"additional","affiliation":[{"name":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"}]},{"given":"Qingshan","family":"Feng","sequence":"additional","affiliation":[{"name":"Petrochina Pipeline Company, Langfang, China"}]},{"given":"Pengchao","family":"Chen","sequence":"additional","affiliation":[{"name":"Petrochina Pipeline Company, Langfang, China"}]}],"member":"179","published-online":{"date-parts":[[2017,3,29]]},"reference":[{"key":"bibr1-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1016\/j.rser.2014.01.069"},{"issue":"12","key":"bibr2-0142331216685392","first-page":"57","volume":"17","author":"Aihua Q","year":"2009","journal-title":"International Petroleum Economics"},{"key":"bibr3-0142331216685392","unstructured":"Aue H, Steffen Paeper R, Bryce Brown R (2007) High-Quality Geometry Module Data for Pipeline Strain Analyses . PPSA. www.ppsa-online.com"},{"key":"bibr4-0142331216685392","volume-title":"6th Pipeline Technology Conference","author":"Barbian A","year":"2011"},{"key":"bibr5-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2011.04.006"},{"key":"bibr6-0142331216685392","volume-title":"Proceedings of Rio Pipeline Conference","author":"Cayz JA","year":"2003"},{"key":"bibr7-0142331216685392","doi-asserted-by":"publisher","DOI":"10.3233\/JAE-140022"},{"key":"bibr8-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1007\/s12206-011-0805-1"},{"key":"bibr9-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1016\/0097-8485(95)00075-5"},{"issue":"1","key":"bibr10-0142331216685392","first-page":"141","volume":"15","author":"Claesen M","year":"2014","journal-title":"Journal of Machine Learning Research"},{"key":"bibr11-0142331216685392","volume-title":"Speech Perception and Production by a Self-Organizing Neural Network","author":"Cohen MA","year":"1987"},{"key":"bibr12-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1115\/IPC2000-155"},{"key":"bibr13-0142331216685392","first-page":"1","volume-title":"The Pipeline Pigging, Integrity Assessment and Repair Conference","author":"Czyz JA","year":"2000"},{"key":"bibr14-0142331216685392","first-page":"1","volume-title":"Pipeline Pigging and Integrity Monitoring Conference","author":"Czyz JA","year":"1994"},{"key":"bibr15-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1115\/IPC1996-1839"},{"key":"bibr16-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1109\/78.564173"},{"key":"bibr17-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1016\/j.foodchem.2013.10.020"},{"key":"bibr18-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.2013.2279421"},{"issue":"10","key":"bibr19-0142331216685392","first-page":"560","volume":"29","author":"Du ZY","year":"2007","journal-title":"Nondestructive Testing"},{"key":"bibr20-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevLett.97.240801"},{"key":"bibr21-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1109\/TMAG.2008.2011895"},{"issue":"6","key":"bibr22-0142331216685392","first-page":"1","author":"Feng Q","year":"2011","journal-title":"Pipeline Technique and Equipment"},{"issue":"1","key":"bibr23-0142331216685392","first-page":"139","volume":"31","author":"Feng Q","year":"2010","journal-title":"ActaPetroleiSinica"},{"issue":"6","key":"bibr24-0142331216685392","first-page":"38","volume":"25","author":"Foxlin E","year":"2005","journal-title":"IEEE Compute"},{"key":"bibr25-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1002\/0470099720"},{"key":"bibr26-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1063\/1.3337750"},{"key":"bibr27-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2010.2079929"},{"issue":"3","key":"bibr28-0142331216685392","first-page":"481","volume":"36","author":"Guo J","year":"2015","journal-title":"Yi Qi Yi Biao Xue Bao\/Chinese Journal of Scientific Instrument"},{"issue":"3","key":"bibr29-0142331216685392","first-page":"1","volume":"83","author":"Hamed YS","year":"2015","journal-title":"Nonlinear Dynamics"},{"issue":"3","key":"bibr30-0142331216685392","first-page":"370","volume":"18","author":"Han HS","year":"2004","journal-title":"Journal of Mechanical Science and Technology"},{"key":"bibr31-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1016\/j.sigpro.2012.01.013"},{"key":"bibr32-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1115\/IPC2006-10349"},{"key":"bibr33-0142331216685392","doi-asserted-by":"crossref","unstructured":"Hart JD, Zulfiqar N (2008) Use of Pipeline Geometry Monitoring to Assess Pipeline Condition. PR-269\u2013064511.","DOI":"10.55274\/R0010254"},{"key":"bibr34-0142331216685392","first-page":"617","volume-title":"2008 7th International Pipeline Conference. American Society of Mechanical Engineers","author":"Hart JD","year":"2008"},{"key":"bibr35-0142331216685392","first-page":"110","volume-title":"American Society of Civil Engineers","author":"Hart JD","year":"2014"},{"issue":"2","key":"bibr36-0142331216685392","first-page":"145","volume":"25","author":"Himmelsbach M","year":"2011","journal-title":"K\u00fcnstlIntell"},{"key":"bibr37-0142331216685392","doi-asserted-by":"publisher","DOI":"10.3233\/JAE-2007-892"},{"issue":"17","key":"bibr38-0142331216685392","first-page":"628","volume":"5","author":"Kim DK","year":"2003","journal-title":"KSME International Journal"},{"key":"bibr39-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1364\/OE.23.013320"},{"issue":"6","key":"bibr40-0142331216685392","first-page":"46","volume":"19","author":"Li M","year":"2004","journal-title":"China Offshore Platform"},{"key":"bibr41-0142331216685392","first-page":"1","author":"Lin HT","year":"2003","journal-title":"Neural Computation"},{"key":"bibr42-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1109\/JMEMS.2013.2273802"},{"key":"bibr43-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1007\/s12206-008-1005-5"},{"key":"bibr44-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1016\/j.matdes.2009.08.045"},{"key":"bibr45-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1115\/IPC2012-90496"},{"key":"bibr46-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1115\/1.4026148"},{"key":"bibr47-0142331216685392","doi-asserted-by":"crossref","unstructured":"Kalchbrenner N, Grefenstette E, Blunsom P (2014) A convolutional neural network for modelling sentences. arXiv preprint arXiv:1404.2188.","DOI":"10.3115\/v1\/P14-1062"},{"key":"bibr48-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbi.2013.10.005"},{"key":"bibr49-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1016\/j.ndteint.2013.01.011"},{"key":"bibr50-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1134\/S2075108714010064"},{"key":"bibr51-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1109\/TCBB.2011.52"},{"key":"bibr52-0142331216685392","volume-title":"7th Pipeline Technology Conference","author":"Marewski U","year":"2012"},{"key":"bibr53-0142331216685392","unstructured":"Mohinder SG, Lawrence RW, Angus PA (2007) Global Positioning Systems, Inertial Navigation, and Integration. Hoboken, NJ: John Wiley & Sons, Inc."},{"key":"bibr54-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1143\/JJAP.42.2468"},{"key":"bibr55-0142331216685392","volume-title":"9th Pipeline Technology Conference","author":"Murray I","year":"2014"},{"key":"bibr56-0142331216685392","volume-title":"Pipeline Bending Strain Assessment using ILI Tools: Case Studies, Pipeline Technology Conference 2015","author":"Murray I","year":"2016"},{"key":"bibr57-0142331216685392","unstructured":"Nassar S (2003) Improving the Inertial Navigation System (INS) error model for INS and INS\/DGPS applications. PhD Thesis, UCGE Reports No. 20183."},{"issue":"1","key":"bibr58-0142331216685392","first-page":"40","volume":"29","author":"Niu X","year":"2016","journal-title":"Chinese Journal of Sensors & Actuators"},{"key":"bibr59-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1016\/j.jembe.2013.10.031"},{"key":"bibr60-0142331216685392","volume-title":"Response of Buried Pipelines Subject to Earthquake Effects","author":"O\u2019Rourke MJ","year":"1999"},{"key":"bibr61-0142331216685392","first-page":"243","volume-title":"2006 International Pipeline Conference. American Society of Mechanical Engineers","author":"Paeper S","year":"2006"},{"key":"bibr62-0142331216685392","unstructured":"Panetta PD, Diaz AA, Pappas RA, (2001) Mechanical Damage Characterization in Pipelines. Pacific Northwest National Laboratory, Operated by Battelle for the United States Department of Energy under Contract: DE-AC06\u201376RLO1830."},{"key":"bibr63-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1063\/1.3072718"},{"key":"bibr64-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1016\/j.ndteint.2011.07.014"},{"key":"bibr65-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511754678"},{"key":"bibr66-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2008.2004378"},{"issue":"9","key":"bibr67-0142331216685392","first-page":"979","volume":"32","author":"Rui L","year":"2013","journal-title":"Oil & Gas Storage & Transportation"},{"issue":"05","key":"bibr68-0142331216685392","first-page":"987","volume":"2014","author":"Rui L","year":"2014","journal-title":"Acta Petrolei Sinica"},{"key":"bibr69-0142331216685392","volume-title":"IPC2008","author":"Sadovnychiy S","year":"2008"},{"key":"bibr70-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1016\/j.ndteint.2012.07.008"},{"key":"bibr71-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1109\/WCICA.2002.1022225"},{"key":"bibr72-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1017\/S037346330500319X"},{"key":"bibr73-0142331216685392","first-page":"921","volume-title":"Proceedings of the 2005 National Technical Meeting of The Institute of Navigation","author":"Shin EH","year":"2005"},{"key":"bibr74-0142331216685392","volume-title":"Pipeline Pigging Integrity Assessment and Repair Conference","author":"Short G","year":"2001"},{"issue":"4","key":"bibr75-0142331216685392","first-page":"40","volume":"2","author":"Skaloud J","year":"2004","journal-title":"European Journal of Navigation"},{"key":"bibr76-0142331216685392","volume-title":"GNSS-aided INS for Land Vehicle Positioning and Navigation","author":"Skog I","year":"2007"},{"key":"bibr77-0142331216685392","volume-title":"Proceedings of the International Pipeline Conference","author":"Snodgrass B","year":"2004"},{"key":"bibr78-0142331216685392","first-page":"1015","author":"Song ZD","year":"2006","journal-title":"Pipeline Technique & Equipment"},{"issue":"3","key":"bibr79-0142331216685392","first-page":"12","volume":"2006","author":"SSD Inc","year":"2007","journal-title":"56, User Reference and Theoretical Manual"},{"issue":"5","key":"bibr80-0142331216685392","first-page":"463","volume":"24","author":"Strelow D","year":"2015","journal-title":"International Journal of Robotics Research"},{"key":"bibr81-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1061\/(ASCE)1084-0699(2003)8:3(161)"},{"key":"bibr82-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1179\/1743278215Y.0000000013"},{"key":"bibr83-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1016\/j.soildyn.2010.06.011"},{"issue":"6","key":"bibr84-0142331216685392","first-page":"910","volume":"31","author":"Verma P","year":"2015","journal-title":"ActaMechanicaSinica"},{"key":"bibr85-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1016\/j.measurement.2011.08.016"},{"issue":"1","key":"bibr86-0142331216685392","first-page":"1","volume":"6","author":"Wang Z","year":"2014","journal-title":"IEEE Photonics Journal"},{"key":"bibr87-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1109\/TSP.2005.857060"},{"issue":"7","key":"bibr88-0142331216685392","first-page":"127","volume":"8","author":"Welch G","year":"1995","journal-title":"University of North Carolina at Chapel Hill"},{"key":"bibr89-0142331216685392","first-page":"1","volume-title":"ION GNSS","author":"Williams T","year":"2009"},{"key":"bibr90-0142331216685392","doi-asserted-by":"publisher","DOI":"10.3390\/s140101394"},{"key":"bibr91-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1016\/j.asr.2014.02.026"},{"key":"bibr92-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1007\/s12206-011-1234-x"},{"issue":"6","key":"bibr93-0142331216685392","first-page":"416","volume":"31","author":"Yao W","year":"2012","journal-title":"Oil & Gas Storage and Transportation"},{"issue":"4","key":"bibr94-0142331216685392","first-page":"591","volume":"28","author":"Yang L","year":"2015","journal-title":"Chinese Journal of Sensors & Actuators"},{"issue":"6","key":"bibr95-0142331216685392","first-page":"687","volume":"35","author":"Yang Y","year":"2013","journal-title":"Journal of Shenyang University of Technology"},{"issue":"6","key":"bibr96-0142331216685392","first-page":"687","volume":"35","author":"Yang Y","year":"2013","journal-title":"Journal of Shenyang University of Technology"},{"key":"bibr97-0142331216685392","doi-asserted-by":"publisher","DOI":"10.5370\/JEET.2014.9.1.334"},{"key":"bibr98-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2004.12.016"},{"key":"bibr99-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2004.12.016"},{"key":"bibr100-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1016\/j.patcog.2013.10.020"},{"key":"bibr101-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1016\/j.measurement.2015.05.023"},{"key":"bibr102-0142331216685392","doi-asserted-by":"publisher","DOI":"10.1109\/CDCIEM.2012.15"},{"issue":"6","key":"bibr103-0142331216685392","first-page":"600","author":"Zhao X","year":"2016","journal-title":"Oil & Gas Storage and Transportation"},{"key":"bibr104-0142331216685392","volume-title":"International Gas Research Conference, Amsterdam (IGRC)","author":"Zirnig W","year":"2001"}],"container-title":["Transactions of the Institute of Measurement and Control"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0142331216685392","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0142331216685392","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0142331216685392","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,2]],"date-time":"2025-03-02T18:03:35Z","timestamp":1740938615000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0142331216685392"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,3,29]]},"references-count":104,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2018,3]]}},"alternative-id":["10.1177\/0142331216685392"],"URL":"https:\/\/doi.org\/10.1177\/0142331216685392","relation":{},"ISSN":["0142-3312","1477-0369"],"issn-type":[{"value":"0142-3312","type":"print"},{"value":"1477-0369","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,3,29]]}}}