1. Date of download: 10/25/2017
Copyright © ASME. All rights reserved.
From: Pipeline Inspection Gauge Position Estimation Using Inertial Measurement Unit, Odometer, and a Set of Reference Stations
ASME J. Risk Uncertainty Part B. 2016;2(2): doi: /
Figure Legend:
MIDG II INS/GPS unit

2. Date of download: 10/25/2017
Copyright © ASME. All rights reserved.
From: Pipeline Inspection Gauge Position Estimation Using Inertial Measurement Unit, Odometer, and a Set of Reference Stations
ASME J. Risk Uncertainty Part B. 2016;2(2): doi: /
Figure Legend:
Path traveled in experiment

3. Date of download: 10/25/2017
Copyright © ASME. All rights reserved.
From: Pipeline Inspection Gauge Position Estimation Using Inertial Measurement Unit, Odometer, and a Set of Reference Stations
ASME J. Risk Uncertainty Part B. 2016;2(2): doi: /
Figure Legend:
Odometer simulation from experimental data

4. Date of download: 10/25/2017
Copyright © ASME. All rights reserved.
From: Pipeline Inspection Gauge Position Estimation Using Inertial Measurement Unit, Odometer, and a Set of Reference Stations
ASME J. Risk Uncertainty Part B. 2016;2(2): doi: /
Figure Legend:
Speedometer simulation from experimental data

5. Date of download: 10/25/2017
Copyright © ASME. All rights reserved.
From: Pipeline Inspection Gauge Position Estimation Using Inertial Measurement Unit, Odometer, and a Set of Reference Stations
ASME J. Risk Uncertainty Part B. 2016;2(2): doi: /
Figure Legend:
Estimation using speedometer only

6. Date of download: 10/25/2017
Copyright © ASME. All rights reserved.
From: Pipeline Inspection Gauge Position Estimation Using Inertial Measurement Unit, Odometer, and a Set of Reference Stations
ASME J. Risk Uncertainty Part B. 2016;2(2): doi: /
Figure Legend:
Position and velocity standard deviation

7. Date of download: 10/25/2017
Copyright © ASME. All rights reserved.
From: Pipeline Inspection Gauge Position Estimation Using Inertial Measurement Unit, Odometer, and a Set of Reference Stations
ASME J. Risk Uncertainty Part B. 2016;2(2): doi: /
Figure Legend:
100-run Monte Carlo position errors

8. Date of download: 10/25/2017
Copyright © ASME. All rights reserved.
From: Pipeline Inspection Gauge Position Estimation Using Inertial Measurement Unit, Odometer, and a Set of Reference Stations
ASME J. Risk Uncertainty Part B. 2016;2(2): doi: /
Figure Legend:
Estimation using speedometer and reference stations that are 500 m spaced

9. Date of download: 10/25/2017
Copyright © ASME. All rights reserved.
From: Pipeline Inspection Gauge Position Estimation Using Inertial Measurement Unit, Odometer, and a Set of Reference Stations
ASME J. Risk Uncertainty Part B. 2016;2(2): doi: /
Figure Legend:
Position and velocity standard deviation

10. Date of download: 10/25/2017
Copyright © ASME. All rights reserved.
From: Pipeline Inspection Gauge Position Estimation Using Inertial Measurement Unit, Odometer, and a Set of Reference Stations
ASME J. Risk Uncertainty Part B. 2016;2(2): doi: /
Figure Legend:
100-run Monte Carlo position errors

11. Date of download: 10/25/2017
Copyright © ASME. All rights reserved.
From: Pipeline Inspection Gauge Position Estimation Using Inertial Measurement Unit, Odometer, and a Set of Reference Stations
ASME J. Risk Uncertainty Part B. 2016;2(2): doi: /
Figure Legend:
Estimation using speedometer and reference stations every 100 m

12. Date of download: 10/25/2017
Copyright © ASME. All rights reserved.
From: Pipeline Inspection Gauge Position Estimation Using Inertial Measurement Unit, Odometer, and a Set of Reference Stations
ASME J. Risk Uncertainty Part B. 2016;2(2): doi: /
Figure Legend:
Position and velocity standard deviations

13. Date of download: 10/25/2017
Copyright © ASME. All rights reserved.
From: Pipeline Inspection Gauge Position Estimation Using Inertial Measurement Unit, Odometer, and a Set of Reference Stations
ASME J. Risk Uncertainty Part B. 2016;2(2): doi: /
Figure Legend:
100-run Monte Carlo simulation

14. Date of download: 10/25/2017
Copyright © ASME. All rights reserved.
From: Pipeline Inspection Gauge Position Estimation Using Inertial Measurement Unit, Odometer, and a Set of Reference Stations
ASME J. Risk Uncertainty Part B. 2016;2(2): doi: /
Figure Legend:
Position estimate using speedometer and update points every 10 m

15. Date of download: 10/25/2017
Copyright © ASME. All rights reserved.
From: Pipeline Inspection Gauge Position Estimation Using Inertial Measurement Unit, Odometer, and a Set of Reference Stations
ASME J. Risk Uncertainty Part B. 2016;2(2): doi: /
Figure Legend:
Position and velocity standard deviations

16. Date of download: 10/25/2017
Copyright © ASME. All rights reserved.
From: Pipeline Inspection Gauge Position Estimation Using Inertial Measurement Unit, Odometer, and a Set of Reference Stations
ASME J. Risk Uncertainty Part B. 2016;2(2): doi: /
Figure Legend:
Monte Carlo simulation for 100 runs