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I have had blood in my urine just like you explained for years. I always had pelvic pain as well. About 3 years ago I was diag with Interstitial Cysitis (IC). It's a bladder disease and will cause blood in the urine. Once I was diagnosed other things made sense. I felt pains that I had no idea were my bladder all those years. My OBGYN finally sent me to a Urologist and they were able to make the diag fairly quickly.
If you notice bright red blood in your urine, or if your urine has turned red or brown because it has blood in it, see your GP. Sometimes, urine may contain only a small amount of blood invisible to the naked eye and is only apparent when a urine test is carried out for something else. This still needs to be investigated by your doctor, as healthy urine should not contain any detectable amounts of blood.