Structuring a Database for Evaluating Water Pipeline Navigation Algorithms

Rosenxt examines water pipelines with Pipeline Inspection Gauges (PIGs). These are equipped with sensors to map the trajectory of the pipeline. A trajectory estimation navigation algorithm generates this trajectory. This paper proposes a data structure and methodology to evaluate the quality of such an algorithm structurally while following the design science methodology of Roel Wieringa. The proposed solution generates trajectories leaving reference tie points (RTPs) out of the generation process and measures the longitudinal, lateral and elevation error at the timestamp of the left-out RTP.