SDP Operator Manual

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Operator Manual

Kongsberg Simrad SDPDynamic Positioning SystemRCI Voyager Class(Rel.3.0)

172339/A

September 2001


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The reader

This operator manual is intended as a reference manual for the system operator. This

manual is based on the assumption that the system operator is an experienced DP operator

with a good understanding of basic DP principles and general DP operation. If this is not

the case, then the operator should first attend the appropriate Kongsberg Simrad training

courses.

Note

The information contained in this document remains the sole property of Kongsberg Simrad

AS. No part of this document may be copied or reproduced in any form or by any means,

and the information contained within it is not to be communicated to a third party, withoutthe prior written consent of Kongsberg Simrad AS.

Kongsberg Simrad AS endeavours to ensure that all information in this document is correct

and fairly stated, but does not accept liability for any errors or omissions.

Warning

The equipment to which this manual applies must only be used for thepurpose for which

it was designed. Improper use or maintenance may cause damage to the equipment

and/or injury to personnel. The user must be familiar with the contents of the appropriate

manuals before attempting to operate or work on the equipment.

Kongsberg Simrad disclaims any responsibility for damage or injury caused by improper

installation, use or maintenance of the equipment.

Kongsberg Simrad A.S.P.O. Box 483

N-3601 KongsbergNorway

Telephone: (47) 32 28 50 00Telefax: (47) 32 73 59 87

Service: (47) 32 28 59 50http://www.kongsberg-simrad.com


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Sections

This manual describes how to operate the Kongsberg Simrad SDP system from an SDP

Operator Station (OS).

System Overview

An overview of the SDP system.

User Interface

An overview of the SDP operator station and the user interface.

System MessagesA description of the way in which system messages are displayed, the types of messages displayed,and how these messages should be interpreted.

System Operating Procedures

Operating procedures for starting and stopping the system, taking command, connecting to a

controller group and switching between controller computers.

Main DP Operating Procedures

Operating procedures for the main DP modes.

Common Operating Procedures

General operating procedures that are common to more than one operational mode.

Position Information

Procedures and information related to coordinate systems and descriptions of the associated

display views.

Position-reference Systems

Procedures and information related to position-reference systems and descriptions of theassociated display views.

Sensors

Procedures and information related to sensors such as gyrocompasses, wind, VRS and draught.

Thrusters

Procedures and information related to control of the propulsion system.

Power System

A description of the relationship between the SDP system and the vessels electrical power system.


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DP Capability Analysis

A description of the DP Capability Analysis function.

Miscellaneous Display Views

Detailed descriptions of the Conning and Trend display views.

Trainer

A description of the built-in trainer function.

Index

General Index

Button Index

Dialog Box Index

Menu Index


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Document revisions

Written by Checked by Approved by

Rev Date Sign Date Sign Date Sign

A 26.09.01 AKS 30.09.01 GU 30.09.01 HML

B

C

D

E

F

The original signatures are recorded on the companys logistic data system.

Document history

Rev. A This version describes operation of the RCI Voyager Class SDP at SDP basissoftware Rel. 3.0 Update 7.

To assist us in making improvements to the product and to this manual, we welcome

comments and constructive criticism. Please send all such, in writing, to:

Kongsberg Simrad AS

Att: Documentation Department

Offshore Division

P.O. Box 483

N-3601 Kongsberg

Norway

e-mail: [email protected]


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Glossary

Abbreviations

ARP Alternative Rotation Point

CG Centre of Gravity

CW Clockwise

CCW Counter-clockwise

COS Common Operator Station

DGPS Differential GPS

DP Dynamic Positioning

DPC DP Controller

DQI Differential Quality Indicator

EBL Electronic Bearing Line

DPMC DP/PM Controller

GPS Global Positioning System

HDOP Horizontal Dilution Of Precision

HPR Hydroacoustic Position Reference

LTW Light-weight Taut Wire

MOB Mobile transponder

OS Operator Station

OT Operator Terminal

PM Position Mooring

PMC PM Controller

PMS Power Management System

PS Process Station

RMS Root Mean Square

ROV Remotely Operated Vehicle

RPM Revolutions Per Minute

SBC Single Board Computer

SDP Simrad Dynamic Positioning

SDPM Simrad Dynamic Positioning and Position Mooring

SPM Simrad Position Mooring

SPS Simrad Planning Station


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SJS Simrad Joystick System

STC Simrad Thruster Control

SVC Simrad Vessel Control

UPS Uninterruptible Power Supply

UTC Universal Time Coordinated

UTM Universal Transverse Mercator

VRS Vertical Reference System

WGS World Geodetic System

WOP Wheel Over Point

WP Waypoint


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General terms

Apparent windSee Relative wind.

Arrival alarm

An alarm signal issued to indicate arrival at a pre-determined distance from a

waypoint.

Bearing

The horizontal direction of one terrestrial point from another, expressed as the

angular distance from a reference direction, clockwise through 360.

Blackout prevention

A method of preventing a power failure due to overloading of the supply generators.

Buoyancy element

An anchor line element connected at a fixed position on an anchor line, causing a

concentrated vertical force upwards on the anchor line.

Cartesian coordinate system

A coordinate system where the axes are mutually-perpendicular straight lines.

Catenary profile

The shape of an anchor line, seen from the side, presented as height above sea bed

along the line from the fairlead to the touchdown point.

Clump weight

An anchor line element connected at a fixed position on an anchor line, causing a

concentrated vertical force downwards on the anchor line.

Coordinate system

Geographic positions may be referenced to different coordinate systems: cartesian

orgeodetic.

Course

The horizontal direction in which a vessel is steered or is intended to be steered,expressed as angular distance from north, usually from 000 at north, clockwise

through 360. Strictly, this term applies to direction through the water, not the

direction intended to be made good over the ground. Differs from heading.

Cross track error

The distance from the vessels present position to the closest point on a line between

the origin and destination waypoints of the navigation leg being travelled.

Datum

Mathematical description of the shape of the earth (represented by flattening and

semi-major axis as well as the origin and orientation of the coordinate systems used

to map the earth).


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Dead reckoning

The process of determining the position of a vessel at any instant by applying to the

last well-determined position the run that has since been made, based on the recenthistory of speed and heading measurements.

Destination

The immediate geographic point of interest to which a vessel is navigating. It may

be the next waypoint along a route of waypoints or the final destination of a voyage.

Feedback

Signals returned from the process (vessel) and used as input signals to the Vessel

Model.

Geodetic coordinate system

A mathematical way of dealing with the shape, size and area of the earth or large

portions of it.

Gyrocompass

A compass having one or more gyroscopes as the directive element, and which is

north-seeking. Its operation depends on four natural phenomena: gyroscopic inertia,

gyroscopic precession, the earths rotation and gravity.

Heading

The horizontal direction in which a vessel actually points or heads at any instant,

expressed in angular units from a reference direction, normally true north, usually

from 000 at the reference direction clockwise through 360. Differs from course.

Kalman Filter

The Kalman filter is a set of mathematical equations that provides an efficient

computational (recursive) solution of the least-squares method. The filter is very

powerful in several aspects: it supports estimations of past, present and even future

states, and it can also do so even when the precise nature of the modelled system is

unknown.

Leg

The straight line between two waypoints.

Line segment

Either a segment of an anchor line, a clump weight or a buoyancy element.

Log

An instrument for measuring the speed or distance or both travelled by a vessel.

Navigation leg

The leg of a voyage on which the vessel is currently travelling.

Reference origin

The reference point of the first position-reference system that is selected and

accepted for use with the system. The origin in the internal coordinate system.


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Relative bearing

The bearing of an object relative to the vessels heading.

Relative wind

The speed and relative direction from which the wind appears to blow with reference

to the moving vessel.

Route

A planned course of travel, usually composed of more than one navigation leg.

Setpoint circle

The circle around the terminal buoy where the vessel is positioned during offshore

loading operations.

Thruster

In this document, this is used as a general term for any element of the vessels

propulsion system, such as an azimuth thruster, tunnel thruster, propeller or rudder.

Touchdown point

The position at which an anchor line meets the sea bed.

Transponder

In this document, this is the physical reference of a position-reference system. For

example: for an HPR system this means any deployed transponder; for an Artemis

system, the Fixed Antenna unit/beacon; for a Taut Wire system,the depressor weight.

True bearing

Bearing relative to true north.

Waypoint

A defined position or reference point an a track.

Waypoint table

A set of waypoints with their parameters, shown in a tabular form, which defines the

track the vessel will follow.

Wheel over point

The point where a vessel is commanded to change heading before a waypoint.


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Windows terminolgy

Apply

To commit a set of changes or pending transactions made in a dialog box, typically

without closing that dialog box.

Cancel

Discards any pending transactions and closes the dialog box or window.

Check box

A small square box that appears in a dialog box and that can be turned on and off.

A check box contains a tick mark when it is selected and is blank when it is not

selected.

Choose

To perform an action that carries out a command in a menu or dialog box. See also

Select.

Click

To press and release a trackball button, without moving the cursor. If no trackball

button is specified, the left button is assumed.

Combo box

A text box with an attached list box which contains a list of options that are always

visible.

Command

A word or phrase, usually found in a menu, that you choose in order to carry out an

action.

Command button

A rectangle with a label inside that describes an action, such as OK, Apply or

Cancel. When chosen, the command button carries out the action.

Cursor

The pointer symbol that is displayed on the screen and that can be moved with the

trackball.

Dialog box

A box that appears when the system needs additional information before it can carry

out a command or action. See also Check box, Combo box, Drop-down list box,

Command button, Group box, List box, Option button, Option button group,

Tab, Tabbed page and Text box.

Drag

To press and hold down a trackball button while moving the trackball. For example,

you can move a dialog box to another location on the screen by dragging its title bar.


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Drop-down list box

A box which has a set of predefined values that can be selected directly from the box.

Clicking the down arrow at the end of the box displays a drop-down list of theavailable values. If the list is longer than the displayed drop-down box, the box will

have a vertical scroll bar that lets you scroll through the list.

Field

A field is a generic description for a text area within a dialog box that displays a

specific value, as opposed to the label which identifies what the value means.

Group box

A group box is a standard control used to group a set of options in a dialog box. For

example, page ranges aregrouped in the Pagerange group box in the WindowsPrint

dialog box.List box

List box is a generic term for any type of dialog box option containing a list of items

the user can select.

Menu

A group listing of commands. Menu names appear in the menu bar beneath the

caption bar. You use a command from a menu by selecting the menu and then

choosing the command.

Menu bar

A horizontal bar at the top of a view, below the title bar, that contains menus.

OK

Commit any pending transactions and close the dialog box or window.

Option button

A small round button appearing in a dialog box (also known as a radio button). You

select an option button to set the option, but within a group of related option buttons,

you can only select one. An option button contains a black dot when it is selected and

is blank when it is not selected.

Option button group

A group of related options in a dialog box. Only one button in a group can be selectedat any one time.

Point

To move the cursor on the screen so that it points to the item you want to select or

choose.

Pop-up menu

A stand alone menu that can be displayed anywhere within a view, usually displayed

using the right trackball button.

Save

Saves all interim edits, or checkpoints, to disk and begins a new editing session.


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Save As

Saves the file (with all interim edits) to a new file name and begins a new editing

session.

Select

To indicate the item that the next command you choose will affect. See also Choose.

Shortcut menu

The menu displayed when the right trackball button is clicked in a view. See also

Pop-up menu.

Spin box

A control composed of a text box and increment and decrement buttons that allow

you to adjust a value from a limited range of possible values.

Status bar

An area that allows the display of state information for the information being viewed.

Typically placed at the bottom of a window.

Tab

The tab at the top of a page in a dialog box. When you click a tab, the related page

is displayed.

Tabbed page

Labelled group of options used for many similar kinds of settings.

Text box

A box within a dialog box in which you type information needed to carry out a

command. The text box may be blank when the dialog box appears, or it may contain

text if there is a default option or if you have selected something applicable to that

command. Some text boxes are attached to a list box, in which case you can either

type in the information or select it from the list.

Tool bar

A row of icons that represent common functions, used to give quick access to

commonly used functions. Clicking on an icon will usually invoke the command orfunction that the icon represents. Tool bars are usually displayed at the top of a view.

Unavailable

Describes a command or option that is listed in a menu or dialog box but that cannot

be chosen or selected. The command or option appears dimmed.


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Table of contents

SYSTEM OVERVIEW 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

The SDP system 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Basic forces and motions 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SDP system principles 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

The vessel model 25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Vessel model update 25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Error compensation force 26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Force demand 26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Thruster allocation 27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Operational modes 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Manoeuvring modes 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Station-keeping modes 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Track modes 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

USER INTERFACE 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

The operator station 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

The operator panel 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Display organisation 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Title bar 34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Menu bar 34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Message line 34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Performance area 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Working area 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Monitoring area 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Status line 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Status bar 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Dialog boxes 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Display views 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Orientation of the operator station 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Tooltip / hotspot cursor and change of cursor image 39. . . . . . . . . . . . . . . . . . . . . . . .

Available views 40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Selecting a display view 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

View control dialog boxes 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Zooming 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Preselecting views 43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Display colours 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Panel lamps 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


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Dimming level 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Lamp test 46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Display units 47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Selecting the display units set to use 47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Editing using the extended Display Units dialog box 47. . . . . . . . . . . . . . . . . . . . . . .

Edit using the Edit Display Unit Set dialog box 48. . . . . . . . . . . . . . . . . . . . . . . . . . .

Vessel and sea current speed 50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Wind, waves and sea current direction 50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Resetting the display units settings 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

System time 52. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Date and time 52. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Time zone 52. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Equipment status 53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Print status page 54. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SYSTEM MESSAGES 57. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

The message system 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Types of messages 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Presentation of messages 59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Acknowledging messages 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Alarm lamps 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Silence button 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Messages on the printer 62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Message explanations 63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents 63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Find 65. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Displayed explanation 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SYSTEM OPERATING PROCEDURES 71. . . . . . . . . . . . . . . . . . . . . . . . .

System start-up and shut-down 72. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

System start-up 72. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

System shut-down 72. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Command transfer 75. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Preparing to take control 75. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Bumpless transfer of control 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Switching command between operation stations/terminals 76. . . . . . . . . . . . . . . . . . .

Returning command to the thruster console 77. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

MAIN DP OPERATING PROCEDURES 79. . . . . . . . . . . . . . . . . . . . . . . .

Standby mode 80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Description 80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


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Actions in Standby mode 80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Returning to Standby mode 80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Manual mode 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Description 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Rotation points 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Thruster allocation modes 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Entering Manual mode 82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Joystick control of position and heading 82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Position and heading information 82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Common procedures available 83. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Joystick Low Speed mode 84. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Description 84. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Rotation points 84. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


Entering Joystick Low Speed mode 85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Speed limits in Joystick Low Speed mode 86. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


Automatic heading control 86. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Automatic position control 87. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Automatic stabilisation 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Joystick High Speed mode 91. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Description 91. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Rotation points 91. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


Entering Joystick High Speed mode 92. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


Automatic heading control 92. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Auto Position mode 94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Description 94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Rotation points 94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


Entering Auto Position mode 94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


Area Position mode 97. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Description 97. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Position control 97. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Rotation points 99. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


Operating procedure 99. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


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Defining the area 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


Anchor Watch mode 103. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Description 103. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Rotation points 103. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


Operating procedure 104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Defining the anchor area 106. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Track modes (Low Speed and High Speed) 108. . . . . . . . . . . . . . . . . . . . . . . . . . . .

Description 108. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Track definition 109. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Track settings 111. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Preparation for Track mode 114. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Track Low Speed mode 114. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Track High Speed mode 118. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Switching between Low Speed and High Speed modes 120. . . . . . . . . . . . . . . . . . . . .

Abandoning the track 121. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Displayed information 122. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


COMMON OPERATING PROCEDURES 125. . . . . . . . . . . . . . . . . . . . . . . .

Changing the position setpoint 126. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Marking on the Posplot view 126. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Using the Position dialog box 127. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Stopping a change of position 128. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Setting the vessel speed 129. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Changing the heading setpoint 130. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Marking on the Posplot view 130. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Using the Heading dialog box 131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Using the Heading Wheel 132. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Stopping a change of heading 133. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Setting the rate of turn 134. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Rotation point 135. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Joystick control 135. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Automatic control 136. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Rotation Point view 138. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Controller gain selection 139. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Level 140. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

High Speed Adjustments 140. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Joystick settings 143. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


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Thrust 144. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Response 144. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Environmental compensation 144. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Alarm limits 145. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Position 145. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Heading 146. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Quick current update 147. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

POSITION INFORMATION 149. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Coordinate systems 150. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

System datum and UTM zone 152. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Local datum parameters 153. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Meridian convergence 154. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Display presentation 157. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

General view 163. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Position, heading and speed 163. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Position and heading deviation 164. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Track information 165. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

View controls 166. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Deviation view 167. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Position and heading 167. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Position and heading deviation 168. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Track information 171. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

View controls 172. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Numeric view 173. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

View controls 174. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Posplot view 175. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

View controls 180. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EBL 184. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

POSITION-REFERENCE SYSTEMS 187. . . . . . . . . . . . . . . . . . . . . . . . . . .

Positionreference systems 188. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Coordinate systems 188. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Tests on position measurements 188. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Controlling the position-reference systems 188. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Enabling the first reference system 189. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Enabling other reference systems 190. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Changing the reference origin 191. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Position dropout 191. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Refsys view 192. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

View controls 196. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


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SENSORS 201. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Gyrocompasses 202. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Enabling gyrocompasses 202. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Gyro status lamp 203. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Displayed heading information 203. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Faulty gyrocompasses 203. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Heading dropout 204. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Wind sensors 205. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Enabling the wind sensor 205. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operating without wind sensor input 205. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Displayed wind information 206. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Faulty wind sensor 206. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Vertical reference systems (VRS) 207. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Enabling VRS 207. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Displayed VRS information 208. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Faulty VRS 208. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Speed sensors 209. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

GPS Speed 209. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Rate of turn sensors 210. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Sensors view 211. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

View controls 213. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

THRUSTERS 215. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Definition 216. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Thruster READY 216. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Enabling thrusters 216. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Dialog box 216. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Thruster allocation modes 217. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Variable 219. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Stbd 0, port 90 219. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Stbd 90, port 0 219. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Inwards 45 220. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Outwards 45 220. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Inwards 60-120 220. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Inwards 30-150 221. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Ice 30-150 221. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Synch and Asynch 221. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Thruster views 224. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Thruster main view 225. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Tunnel thruster view 228. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


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Azipod thruster view 231. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fixpod thruster view 233. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Sub-view controls 235. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Setpoint/feedback view 237. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Forces view 239. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

POWER SYSTEM 241. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power monitoring 242. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power view 243. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

View controls 245. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

DP CAPABILITY ANALYSIS 247. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Description 248. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .DP capability settings 250. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Main page 251. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Run Control page 253. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Thrusters page 255. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Capability view 256. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Using the electronic bearing line 260. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

View controls 261. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

MISCELLANEOUS DISPLAY VIEWS 263. . . . . . . . . . . . . . . . . . . . . . . . . .

Bumpless view 264. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Conning view 268. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

View controls 272. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Trends view 273. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

View controls 274. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

TRAINER 275. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Introduction 276. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Starting the trainer 276. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Using the trainer 277. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Stopping the trainer 278. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


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SYSTEM OVERVIEW

This section provides an overview of the SDP system.


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Kongsberg Simrad SDP RCI Voyager Class

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The SDP system

The Simrad Dynamic Positioning (SDP) system is a computerized

system enabling the automatic position and heading control of a

vessel.

Setpoints for heading and position are specified by the operator

and are then processed by the SDP system to provide thrust control

signals to the vessels propulsion system. The SDP system always

allocates optimum thrust to whichever propulsion units are in use.

To control the vessels heading, the SDP system uses data from one

or more gyrocompasses, while at least one position-reference

system enables the SDP system to position the vessel. Deviations

from the desired heading or position are automatically detectedand appropriate adjustments are made by the system.

The SDP system also provides a manual joystick control which

may be used for manual control alone or in conjunction with a

position-reference system for combined manual/auto control.

Without a position-reference system, the SDP system can provide

automatic stabilization and control of the vessel heading using the

gyrocompass as the heading reference.

Basic forces and motionsA seagoing vessel is subjected to forces from wind, waves and

current, and from forces applied by the vessels propulsion system.

The vessels responses to these forces (changes in position,

heading and speed) are measured by position reference systems,

gyrocompasses and vertical reference sensors. Wind speed and

direction are measured by wind sensors.

The SDP system calculates the deviation between the measured

position of the vessel and the required position, and then calculates

the forces that the thrusters must produce in order to make the

deviation as small as possible.

The system controls the vessels motion in three horizontal degrees

of freedom - surge, sway and yaw.


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Waves

Current

Yaw

Sway

Surge

Sway

Wind

Figure 1 Forces and motions

The vessel also moves in three vertical degrees of freedom: pitch,

roll and heave.

Pitch(+ = bow up)

Roll(+ = stbd down)

Heave(+ = down)

Figure 2 Pitch, roll and heave

The pitch and roll motions are not controlled by the SDP system,

but the system must have information about these motions to allow

the position-reference systems to correct for them.

SDP system principles

A simplified overview of the SDP control system is illustrated in

Figure 3 and described in the following sections.


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Measured WindSpeed & Direction

WindForce

ErrorCompensation

Force

VESSEL MODEL

ThrusterFeedback

ThrusterSetpoints

ThrusterForce

PredictedPosition &Heading

EstimatedSpeed

VesselModelUpdate

Position &HeadingDifference

Force Demand ForAxes Under Manual

Position ControlFeedForward

Position &HeadingSetpoints

EstimatedPosition &Heading

Position &HeadingDeviation

Force Demand ForAxes Under Automatic

Position Control

Resulting ForceDemand

MeasuredPosition & Heading

ExternalForces

POWEROVERLOADCONTROL

THRUSTERALLOCATION

GAINCONTROL

DAMPINGCONTROL

THRUSTERMODEL

KALMANFILTER

WINDMODEL

Vessel Speed Setpoint

Rotate Speed Setpoint

JOYSTICKGAIN

CONTROLLER

AvailablePower

ControllerGain

Force DemandFrom Joystick

VESSEL THRUSTER SYSTEMS

JoystickGain

ERRORCOMPUTATION

ThrusterSetpoints

Figure 3 SDP system block diagram


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The vessel model

The SDP system is based on a Vessel Model which contains a

hydrodynamic description of the vessel, including characteristics

such as drag coefficients and mass data. This model describes how

the vessel reacts or moves as a function of the forces acting upon

it.

Note Text in capitals in the following description refer to items in

figure 3.

The Vessel Model is provided with information describing the

forces that are acting on the vessel:

A Wind Model uses a set of wind coefficients for various angles

of attack to calculate the WIND FORCE as a function of the wind

speed and direction.

A Thruster Model uses force/pitch/rpm characteristics to

calculate the THRUSTER FORCE according to the feedback signals

from the thrusters.

Using the vessel characteristics and the applied forces, the Vessel

Model calculates the ESTIMATED SPEED and the ESTIMATED POSITION

AND HEADING in each of the three horizontal degrees of freedom -

surge, sway and yaw.

During sea trials, the Vessel Model is tuned to optimise the

description of the vessel characteristics.

Vessel model update

The Vessel Model can never be a completely accurate

representation of the real vessel. However, by using a technique

known as Kalman Filtering, the model estimates of position and

heading are continuously updated with measured positioninformation from position-reference systems and gyrocompasses.

The PREDICTED POSITION AND HEADING from the Vessel Model are

compared with the MEASURED POSITION AND HEADING to produce a

POSITION AND HEADING DIFFERENCE. Since these differences may be

caused by noise in the measured values, they are filtered before

being used to update the Vessel Model.

Together, the Vessel Model and the Kalman filtering technique

provide effective noise filtering of the heading and position

measurements and optimum combination of data from the

different reference systems.


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If the reference system measurements are completely lost (position

or heading dropout), there is no immediate effect on the

positioning capability of the system. The Vessel Model willcontinue to generate position estimates even though there are no

further model updates. This dead reckoning positioning will

initially be very accurate but will gradually deteriorate with time.

Error compensation force

Even if appropriate thruster forces are applied to counteract the

effect of the measured forces on the vessel, the vessel would still

tend to move out of position due to forces that are not measured

directly, such as waves and sea current (together with any errors in

the modelled forces).

These additional forces acting on the vessel are calculated over a

period of time according to the filtered POSITION AND HEADING

DIFFERENCE to produce an ERROR COMPENSATION FORCE, which is

added to the modelled forces to represent the total EXTERNAL

FORCES.

The error compensation force is presented to the operator as being

entirely due to sea current since this is the main component.

Force demandThe force demand that is required to keep the vessel at the required

position is composed of the following parts:

The Force Demand for axes that are under automatic control

The Force Demand for axes that are under manual control

The Feed Forward

Force demand for axes under automaticcontrol

This consists of two parts:

a force demand that is proportional to the deviation between the

estimated position and heading and the position and heading

setpoints

a force demand that is proportional to the deviation between the

wanted and actual speed

The POSITION AND HEADING SETPOINTS, specified by the operator,

are compared with the ESTIMATED POSITION AND HEADING from the

Vessel Model. The differences are multiplied by gain factors that

are calculated and adjusted to optimize the station keeping

capability with minimum power consumption.


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The wanted speed is compared with the ESTIMATED SPEED from the

Vessel Model. If the vessel is to maintain a stationary position, the

wanted speed will be zero. This part of the force demand thereforeacts as a damping factor in order to reduce the vessels speed to

zero.

Force demand for axes under manual control

When any of the axes are not under automatic control, you can use

the joystick to manually control the force exerted by the thrusters

in those axes.

Feed forward

In order to counteract changes in the external forces as soon as theyare detected, rather than first allowing the vessel to drift away from

the required position, the calculated EXTERNAL FORCES are fed

forward as an additional force demand.

Thruster allocation

The force demand in the surge and sway axes (the directional force

demand), and in the yaw axis (the rotational moment demand), are

distributed as pitch or rpm setpoint signals to each thruster.

The demand is distributed in such a way as to obtain the directionalforce and rotational moment required for position and heading

control, while also ensuring optimum thruster use with minimum

power consumption and minimum wear and tear on the propulsion

equipment.

If it is not possible to maintain both the rotational moment and the

directional force demand due to insufficient available thrust,

priority is set to obtain the rotational moment demand (heading).

If a thruster is out of service or deselected, the lost thrust is

automatically redistributed to the remaining thrusters.


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Operational modes

The following operational modes are described in this manual:

Standby mode (page 80)

This is a waiting and reset mode in which the system is in a state

of readiness but in which no control of the vessel can be made

using the system.

Manoeuvring modes

Manualmode (page 81)

In this mode, you control the vessel movement using the

joystick, at any speed and with no automatic control.

Joystick Low Speedmode (page 84)

In this mode, you control the vessel using the joystick, at speeds

of up to 3-4 knots, with optional automatic heading and/or surge

or sway position control.

Joystick High Speedmode (page 91)

In this mode, you control the vessel using the joystick, at speeds

above 3-4 knots, with optional automatic heading control.

Station-keeping modes

Auto Position mode (page 94)

In the Auto Position mode, the vessel is under full automatic

control in all three axes.

Area Position mode (page 97)

In this mode the system keeps the vessel within an allowed area

with minimum use of power.

Anchor Watch mode (page 103)

This mode allows you to monitor the vessels position within

defined limits when at anchor.

Track modes

Track Low Speed and Track High Speed modes (page 108)

These modes enable the vessel to automatically follow a

predefined track.

The SDP system is supplied with a Trainerfunction (page 275)

which provides simple simulations for operator training

purposes and for analyzing the vessel behaviour during changes

in operational conditions.


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User Interface

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USER INTERFACE

This section gives an overview of the SDP operator stationand the user interface.


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The operator station

The SDP operator station includes a display screen for monitoringand operation of the system, and an operator panel with

pushbuttons and lamps. The joystick is mounted separately.

Figure 4 Example operator station


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User Interface

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The operator panel

Dedicated buttons with status lamps are provided on the operator

panel for activation of main modes, reference systems, thrusters

and other functions where indicator lights are of great importance

for situation assessment.

Three buttons allow you to select individual axes for automatic

control. These buttons are referred to as the Surge, Sway andYaw

buttons throughout this manual.

Surge Sway Yaw

Other frequently-used functions, such as selection of display views

and dialog boxes, are also initiated from dedicated panel buttons.

For safety reasons, some of the buttons must be pressed twice

within 4 seconds to invoke action.

The panel also provides:

a heading wheel for increasing or decreasing the heading

setpoint

a keypad with numeric keys for entering values into dialog

boxes, and function keys for selection predefined view

configuration

a trackball for positioning the cursor on the screen

A 3-axis manual joystick that is used for manual thruster control

is mounted separately on the centre thruster console.

To locate further information about individual panel buttons,

use the Button Index at the end of this manual.


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AlarmsKeypad Trackball

Sensors Views

Command

Main modes Alarms

Reference systems TrackballView selectionHeading wheel

View selection

and system functions

Figure 5 The SDP operator panel


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User Interface

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Display organisation

The display interface uses standard Microsoft Windows NTt

operating features such as menus and dialog boxes.

Figure 6 Example display

The display is divided into a number of predefined areas as shown

below. In addition to these, dialog boxes are displayed whenever

operator interaction is required.

TITLE BAR

MENU BAR

MESSAGE LINE

MONITORING

PERFORMANCE

AREA

AREA

WORKING

AREA

STATUS LINE STATUS BAR

Figure 7 Display organisation


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Title bar

The title bar identifies the SDP operator station and shows the

current date and time.

When this operator station has command, Propulsion is displayed

in the title bar. This is the name of the command group over

which the system has control.

The vessel name is displayed in the centre of the title bar. When the

system is in Trainer(simulation) mode, the text is Simulating is

displayed flashing.

OPERATOR STATION

COMMAND GROUP

CONTROLLER GROUPOR TITLE DATE AND TIME

CD2840

Figure 8 Example title bar

Menu bar

The menubar provides command menus which allow you to access

the available dialog boxes.To locate information about individual menu entries, use the

Menu Index at the end of this manual.

Figure 9 Example menu bar

Message line

The message line shows the most recent warning or alarm message

that has not yet been acknowledged. See page 58.


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Performance area

The performance area always contains one of three performance

views: General, Deviation or Numeric. Each of these views aredesigned to show the positioning performance in a clear and

precise way. Colour graphics and large text are used to allow the

status information to be interpreted easily even at a distance.

Working area

The working area shows selected display views.

Monitoring area

The monitoring area shows smaller versions of the display views

that are available in the working area.

Status line

The status line displays general help messages and advice for the

operator.

Status bar

The status bar provides general system status information by

means of indicators, some of which are also sensitive to cursor

movement. When the cursor is moved over an indicator that is

defined as click-sensitive, it changes to a pointing hand. If you then

click the left trackball button, a dialog box related to that indicatoris opened.

Figure 10 Example status bar

MainMode The present main operational mode.

PosMode The status of the automatic position control: PRESENT or NEW

SETP (new setpoint).

HdgMode The status of the automatic heading control: PRESENT, NEW

SETP (new setpoint) or TO WP (towards waypoint).

AllocMode The present thruster allocation mode.

RotPoint The present rotation point.

Refs An indication of the status of the position-reference systems:

Grey: no positionreference systems are enabled

Yellow: at least one positionreference system is enabled

but there is no acceptable position information

Green: at least one positionreference system is enabled

and the position information from at least one of

them is accepted


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JoystickSettings Left box: Joystick Thrust level (Full or Reduced)

Middle box: Joystick Response (Increasing, Linear or Decreasing)

Right box: Joystick Lock status (in Area Position mode)

AutoSettings Left box: Axis Position Control: A graphic indication of the axes

that are under automatic control:

The surge axis is under automatic control

The sway axis is under automatic control

The yaw axis is under automatic control

Middle box: Controller Gain level (High, Medium or Low)

Right box: Quick Current status (filled yellow circle when active)


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Dialog boxes

Data entry is achieved using dialog boxes initiated from panel

buttons or menu items, or by clicking on graphical symbols in thedisplay views.

A dialog box may cover either a logical group of functions related

to primary operations relevant for several main modes, or more

special functions specific to a particular mode. For example, all

functions related to change of heading are put together.

Dialog boxes pop up in the display area but you can move them

as required.

To locate information about individual dialog boxes, use the

Dialog Box Index at the end of this manual.

Figure 11 Example dialog box

When you have modified data in a dialog box, the message

(Changed) is added to the title text.

Data that you enter in a dialog box are not taken into account until

you confirm the input by clicking Apply orOK:

If you clickApply, the changes that you have made are applied

and the dialog box remains displayed.

If you clickOK, the changes that you have made are appliedandthe dialog box is removed from the display. If any data errors

are found, no changes are made and the dialog box remains

open.

When you are not allowed to make changes to the data in a dialog

box, both OKand Apply will be unavailable (displayed dimmed).

This will occur, for example, when the operator station is not in

command or the system in not in an appropriate mode.

Some dialog boxes comprise several pages which you access by

clicking on the page tab. For this type of dialog box, both Apply

and OKapply the changes that you have made on all pages of the

dialog box.


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ClickCancel to close the dialog box without action. If a dialog box

can be accessed by pressing a panel button, pressing this panel

button while the dialog box is displayed closes the dialog boxwithout action.

Input validation of heading, direction andangle values

When entering a value for heading, direction or angle, the value is

validated and must be within the selected display format limits for

this data type (for exampleHeading 0 to 360 degrees). If you enter

an illegal value, the input will be rejected and a message will be

displayed for a few seconds to the left in the status bar together with

a short beep. In you click Apply, the current value will remain

unchanged.


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Display views

Orientation of the operator station

Several of the display views show information relative to a

diagram of the vessel; for example, thrusters are shown on the

Thrusters view in their relative positions on the vessel diagram.

All display views of this type assume that the operator is facing

forward in the vessel when looking at the display screen. The

vessel diagram is displayed bowup on the display.

Tooltip / hotspot cursor and change of

cursor image

In many of the display views the ordinary cursor changes to a

pointing hand (the hotspot cursor) when it is moved over an area

defined as click-sensitive. Typical examples of such

click-sensitive areas are push buttons for zooming in and out,

numerical fields showing other related numerical values when

clicked, graphical fields showing a specific dialog box when

clicked, change of position setpoint, opening another view related

to the specific component you click, opening the control dialog box

for a specific plot etc.

Figure 12 Tooltip and Hotspot cursor shown when cursor is

over a click-sensitive area

Simultaneously with the change of cursor image when above a

click-sensitive object, a short hotspot cursor text (the tooltip) is

displayed for a few seconds. This text explains the use of the

click-sensitive object. The tooltip and hotspot cursor is by default

on, but can be toggled on/off by use of the Show ToolTip

command and the Use HotSpot Cursors command on the View

menu.


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Available views

The following display views are available:

Rotation Points view (page 138)

Shows the position of all the alternative rotation points that are

available when the vessel is under automatic heading control.

Capability view (see page 256)

Shows the results of the latest analysis performed by the DP

Capability Analysis function.

Conning view (page 268)

Shows useful information in theJoystick High Speedand Track

High Speedmodes.

Deviation view (page 167)

Shows a combination of graphical and numerical performance

data, particularly related to position and heading deviation.

General view (page 163)

Shows a combination of graphical and numerical performance

data.

Bumpless view (page 264)

Shows information to assist you during manual joystick

manoeuvring and when preparing for bumpless control transfer. Numeric view (page 173)

Shows performance data in numerical form.

Posplot view (page 175)

Shows the vessels position and heading.

Power view (page 243)

Shows a mimic display of the vessels electrical power system.

Refsys view (page 192)

Show the individual and resulting performance of the activepositionreference systems.

Sensors view (page 211)

Shows the performance and state of the vessels sensors, such

as gyrocompasses, wind sensors and VRS.

Thruster views (page 224)

A main view and sub-views for each thruster show how the

system is using the available thrusters to provide the required

thrust demand. A Setp/feedb view shows setpoint and feedback

data for all the thrusters. A Forces view shows the resultant

thruster forces.


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Trends view (page 273)

Shows dynamic displays of the history over a specified period

of selected information.

Selecting a display view

You can select a view to be displayed in three ways:

1 Some views have dedicated buttons on theoperator panel. To

select a view to be displayed in the working area, press the

appropriate panel button.

2 To select a view to be displayed in the performance, working

or monitoring area, place the cursor in the required area and

click the right trackball button. A popup menu is displayedlisting the views that are available for that area. Select the

required view.

Figure 13 shows the pop-up view menu. The small arrow to

the right of a menu entry indicates that a sub-menu of related

views is available.

Figure 13 Example pop-up view menu

3 To display a preselected set of views in the performance,

working and monitoring areas, press the appropriate

function key on the keypad (see page 43).

View control dialog boxes

Many of the views have control dialog boxes to select the displayed

information and to control features of the view. You access these

dialog boxes via the popup menu for the view.

To display the control dialog box for a view:

1 Place the cursor anywhere in the view and click the right

trackball button.

- The popup view menu is displayed.


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2 ClickView Control on this menu.

- The control dialog box for the view is displayed.

- If the view does not have an associated control dialog boxthen View Control is not available on the popup menu.

Figure 14 Example view control dialog box

Zooming

To zoom a view that is displayed in the working or monitoring area,

clickZoom In on the view pop-up menu. The view is enlarged bya factor of approximately 1.6, centred on the cursor position when

the pop-up view menu was displayed.

A zoomed view can be panned or zoomed again. Place the cursor

in the required area and click the right trackball button. The

following popup menu is displayed:

Figure 15 Zoom menu

Clicking Zoom Reset returns the view to its original scale.

Clicking Zoom In zooms the view again, centred on the cursor

position when this menu was displayed.

Clicking Center Here pans the view so that it is centred on the

cursor position when this menu was displayed.

If available, clicking View Control displays the control dialog box

for the view.


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Preselecting views

You can preselect sets of views to be displayed in the performance,

working and monitoring areas and associate them with functionkeys on the keypad. When you then press one of these function

keys, the preselected set of views is displayed.

To program the function keys, clickPreselect on the View menu.

The Preselect dialog box is displayed.

Figure 16 Preselect dialog box

While this dialog box is displayed, select the wanted views in the

performance, working and monitoring areas, and then click the

appropriate function key button on the dialog box. Only function

keys F5 through F8 are available for this function. When you click

Close, the selected views are associated with the selected function

key.


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Display colours

Two sets of display colours (palettes) are available, for day or night

use.

To change the display palette:

1 On the View menu, place the cursor on the Set Palette menu

entry.

- Two menu entry extensions, Day and Night, are displayed

(see Figure 17 below).

Figure 17 View menu - Selection of display palette

2 Select the required display palette.


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Panel lamps

Dimming level

You can set the required light intensity for the indicator (status)

lamps on the operator panel and for the background lamps in the

buttons themselves.

1 On the Panel menu, clickDim Panel.

- The Panel Light Control dialog box is displayed.

Figure 18 Panel Light Control dialog box

2 Select the required light intensity for the indicator lamps and

the background lamps.

3 ClickOK.


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Lamp test

You can test the panel status lamps, alarm lamps and the audible

alarm at any time.

1 On the Panel menu, clickLamp Test.

- The Lamp Test dialog box is displayed.

Figure 19 Lamp Test dialog box

2 ClickStart Lamp Test.

- The following message is displayed in the Lamp Testdialog box:

The Lamp Test has started

- All the panel status lamps should be lit.

- All the alarm lamps in the Alarms button group shouldbe lit.

- The audible alarm should sound.

3 Press Silence in the Alarmsbutton group to stop the audible

alarm.

4 Press each button which has a status lamp.

- The status lamp should be extinguished.

5 To stop the test, clickEnd Lamp Test.

6 ClickClose to remove the Lamp Test dialog box.


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Display units

You can specify the display units to be used for the display and

entry of values. You can also select which set of display units to

use.

Selecting the display units set to use

1 On the View menu, clickDisplay Units.

- The Display Units dialog box is displayed.

Figure 20 Display Units dialog box

2 Select the required display units set you want to use. You can

choose between RCI Standards and two User Definable

sets.

3 ClickOKorApply to apply the selected set of display units.

You cannot modify the RCI Standards.

If you have selected a User Definable set, there are two methods

available for editing values as described in the following sections.

Note Procedures for selecting the required datum for display of position

information are described on page 157.Procedures for setting the display format for position information

are described on page 157.

Procedures for selecting whether to display headings relative to

true or grid north are described on page 155.

Editing using the extended Display Unitsdialog box

1 Click the Details button on the Display Units dialog box.

- The extended Display Units dialog box is displayed (seefigure 21 below).


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Figure 21 Display Units dialog box - Extended version

2 Using the scroll bar to the right, find the value you want to

edit.

3 Click in the Display Format column for the selected value.

A list box containing all the display formats for this value is

then displayed (see figure 22 below). Note that the currently

selected display format is highlighted.

Figure 22 Display Units dialog box - Selecting display format

4 Select the required display format from the options shown in

the list box. The list box is then closed.

5 Repeat steps 2 to 4 if you want to edit the display format for

other values.

6 ClickOK.

Edit using the Edit Display Unit Set dialogbox

1 Click the Edit button on the Display Units dialog box.

2 The EditDisplay Unit setdialog box is displayed (seefigure

23 below).


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User Interface

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Figure 23 Edit Display Unit set dialog box

3 Using the scroll bar to the right, find the value you want to

edit.

4 Select the required display format from the options shown in

the right-hand list box. Note that the currently selected

display format is highlighted and that a Current Format

Example is shown above the list box.

5 Repeat steps 3 to 4 if you want to edit the display format for

other values.

6 Click OK to apply the selected formats and to close the

dialog box.

7 ClickOKto close the Display Units dialog box.


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Vessel and sea current speed

For vessel and sea current speed you can select between two

display formats for knots, either knots (1 decimal accuracy) orknots (accurate) (2 decimals accuracy). See figure 24 below.

You can also select between two display formats for meter/second:

For vessel speed, either meter/sec (2 decimals accuracy) or

meter/sec (accurate) (3 decimals accuracy).

For sea current speed, eithermeter/sec (1 decimal accuracy) or

meter/sec (accurate) (2 decimals accuracy).

Figure 24 Display Units dialog box - selection of display

accuracy for vessel and sea current speed

Wind, waves and sea current direction

For wind, waves and sea current, you can specify whether the

displayed directions are to be interpreted as comes from or goes

to.

Figure 25 Edit Display Unit set dialog box - selection of

direction for wind, waves and sea current


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User Interface

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When Goes To is selected, the displayed directions in dialog boxes

and views are shown with s. in front of the unit . The s means

setting (goes to).On display views such as Posplot, the arrows indicating wind and

current directions point towards the plot when Comes From is

selected, and outwards when Goes To is selected.

Resetting the display units settings

You can reset the displayunits settings back to the RCI Standards.

1 On the View menu, clickReset Display Units.

- The Reset Display Units dialog box is displayed (see

figure 26 below).

Figure 26 Reset Display Units dialog box

2 ClickYes if you want to return all the display units settings

to the RCI Standards.


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System time

You can change the date and time of the system clock, and the time

zone.

Date and time

On the System menu, clickSet Date/Time. The Set Time dialog

box is displayed.

Figure 27 Set Time dialog box

Use this dialog box to set the correct date and time. You can either

enter the time and date values directly into the text boxes or use the

up/down arrow to select time and date values.

Time zone

On the System menu, click Set TimeZone. The Set Timezone

dialog box is displayed.

Figure 28 Set Timezone dialog box

Use this dialog box to set the required time zone from the selections

on the drop-down list box. Select the check box if you want the

system to automatically adjust the clock for daylight saving

changes.


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User Interface

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Equipment status

You can view status information concerning the system

equipment.

On the System menu, click Equipment. The Equipment dialog

box is displayed.

Figure 29 Example Equipment dialog box


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Print status page

You can print a predefined set of system status data on the event

printer connected to the controller. You can either explicitly

request an immediate printout or request repeated printing with a

given time interval. An example of a printed status page is shown

in figure 30.

PRINT PAGE Fri Feb 16 14:18:03 2001

SETUP

Main mode : MANUAL

Trainer : INTERNAL

Position control:

Control gain : LOWPosition mode : PRESENT Heading mode: PRESENT

REFERENCE SYSTEMS

Weight PosN PosE

*GPS-1 1.00 50 47.1097 001 18.0606W

Reference origin : GPS-1

POSITION

Wanted Actual Dev

North 50 47.1097 50 47.1097 -0.0

East 001 18.0606W 001 18.0606W 0.0

Heading(deg) 001.2 001.2 0.0

Speed(m/s) 0.300 0.024 0.276

ENVIRONMENTWind 6.2 (m/s) 178.4 (deg)

Current 0.0 (m/s) 227.1 (deg)

Pitch (deg) 4.0 RMS: 2.8

Roll (deg) 11.5 RMS: 8.9

THRUSTERS

Force Pitch(%) Speed(rpm) Load(kW) Azimuth(deg)

(T) - % setp-feedb setp-feedb setp-feedb setp-feedb

BowTunnel1 -11.9 36 -53 -53 989 Tunnel



StbdAzim 14.0 14 100 37 722 722 070.0 070.0

PortAzim 10.3 10 100 32 906 906

Date post:	03-Apr-2018
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SDP Operator Manual

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