3.2.1. Experimental equipment

Low-cost MEMS IMU Crossbow IMU300CC could measure the PIG triaxial angular rates and linear accelerations. Moreover, the Ideal Aerosmith 2103HT positioning and rate table are used to simulate the pipeline trajectory as shown in Figure 2. The experimental equipment of Crossbow IMU300CC, 2103HT table, table control panel, inertial sensors data acquisition system, and their corresponding connection are shown in Figure 3.
