The present invention provides an apparatus for mapping pipeline for use in a fluid pipeline, comprising: a pressure gauge that measures the pressure of the fluid in the fluid pipeline; a gyroscope that measures the angular velocity of the apparatus for mapping pipeline in the fluid pipeline; a processing module that collects and converts the pressure of the fluid and the angular velocity to a pressure data and an angular velocity data, respectively; and a data output module that outputs the pressure data and the angular velocity data. The present invention also provides a method for mapping pipeline and a system using the same that obtain the spatial layout of the fluid pipeline by analyzing the pressure data and the angular velocity data.