Bend detection in pipeline survey

A survey of a pipeline is carried out by sending a “pig?? down a pipeline that has fluid flowing in it. The pig measures distance travelled using an odometer that outputs a pulse every 1cm. The pig also has a MEMS accelerometer and gyro on it giving roll, pitch and yaw outputs. Yaw has an uncontrollable drift due to the nature of the MEMS sensors, however, super imposed on this can be seen pipeline features. P2D has a requirement to identify pipeline bends from the data obtained from a MEMS based survey of a pipeline. The MEMS sensor outputs X,Y,Z accelerations gyro rates and Yaw, Pitch and Roll. Sample data will be provided to the successful bidder. ## Deliverables As said previously the data is collected in 2 separate csv files. One containing sensor data at 10Hz (odometers etc), the other containing IMU data at 100Hz. These 2 files can be combined to form a single complete record of the survey. Attached along with the description of what is required is a CSV file with some sample data. This is a file that has had the IMU data decimated to 10Hz and then been combined with the sensor data. Examples of IMU data, sensor data and combined data will be provided to the coder.