A pipeline inspection device, for example a pipeline inspection gauge or pig, is configured for inspecting a pipeline. The pipeline includes a plurality of pipes of varying orientations and a radio frequency identification device (RFID) provided on each pipe. Each RFID contains information indicative of the identity of each respective pipe. The inspection device includes a RF transceiver configured to receive the identity information from each RFID; an inertial navigation unit configured to generate three-space position information indicative of the position of the inspection device in the pipeline; and a processor configured to synchronize the identity information of each RFID with the position information to determine a three-space location of each pipe in the pipeline. A method of inspecting a pipeline that has a plurality of pipes includes collecting identity information indicative of the identity of each pipe; generating three-space position information indicative of the position of each pipe; and synchronizing the identity information and the position information.