Kongsberg K-Pos

Follow Target Mode

Operator Manual
Release 7.0

301040/A
October 2006

Document history
Document number: 301040
Rev. A

October 2006

This version describes operation of the Follow Target mode of

the K-Pos system at K-Pos basis software release 7.0.

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 Maritime training courses.
Note
The information contained in this document remains the sole property of Kongsberg Maritime 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, without the prior written consent of
Kongsberg Maritime AS.
Kongsberg Maritime 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 the purpose 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 Maritime disclaims any responsibility for damage or injury caused by improper installation,
use or maintenance of the equipment.
Comments
To assist us in making improvements to the product and to this manual, we welcome comments and
constructive criticism.
e-mail: km.documentation@kongsberg.com

Kongsberg Maritime AS
P.O.Box 483
N-3601 Kongsberg,
Norway

Telephone: +47 32 28 50 00
Telefax: +47 32 28 50 10
Service: +47 815 35 355
www.kongsberg.com

Operator Manual

Table of contents
1

FOLLOW TARGET MODE .................................................... 5

FOLLOW SINGLE MOBILE TARGET..................................... 7

MULTI TARGETING............................................................ 7

ENTERING FOLLOW TARGET MODE ................................. 10

CORRUPTED TRANSPONDER SIGNALS ............................ 13

HEADING CONTROL ........................................................ 13

POSITION CONTROL ....................................................... 13

SPEED CONTROL ............................................................. 13

ACCELERATION ............................................................... 14

10 RATE OF TURN ................................................................ 14

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1 FOLLOW TARGET MODE

A K-Pos system with Follow Target mode has one of two
available configurations:
Follow Single Mobile Target
Follow Multiple Mobile Targets
Follow Single Mobile Target enables the vessel to automatically
follow a moving target and keeps the vessel within a position
window relative to the target. The moving target must be
equipped with a mobile reference transponder or laser reflector
in order for the K-Pos system to monitor its relative position. If,
for example, the moving target is a Remotely Operated Vehicle,
then the vessel must be equipped with a Hydroacoustic Position
Reference (HPR) system.
In addition to a mobile reference transponder on the target, an
additional fixed position-reference system is required, such as
DGPS or a fixed transponder deployed on the seabed.
You can define a circle of operation within which the target can
move without causing the vessel to move. The vessel only moves
when the target reaches the boundary of this circle. The radius of
this circle (the reaction radius) can be up to 1000 m.

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Follow Target Mode

Figure 1

Follow Single Target

Follow Multiple Mobile Targets enables a DP vessel to follow a

moving structure or vessel equipped with two or more targets
(such as laser reflectors). For example, a Fanbeam position
reference system with software for dual target can typically be
used. The moving structure can be followed both with respect
to position and heading.
The operator can select between the following operational modes:
Follow Position, makes the vessel follow the moving structure
with respect to position. The vessel will always have the same
position relative to the moving structure, while maintaining
the absolute heading.
Follow Heading, makes the vessel follow the moving structure
with respect to heading. The vessel will always have the same
heading relative to the moving structure, while maintaining
the absolute position.
Follow Position and Heading, makes the vessel follow the
moving structure with respect to both position and heading.
The vessel will always have the same position and heading
relative to the moving structure.

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2 FOLLOW SINGLE MOBILE TARGET

This section describes the Follow Target dialog box in a K-Pos
system that has the Follow Single Mobile Target configuration.
To display the Follow Target dialog box, click AutoPos Follow

Target.

Mobile Targets

To select a transponder, in the Available list, highlight the required

transponder and click Add. To remove a transponder from the
Selected list, highlight the transponder you want to remove and
click Rem. Only one transponder can be selected at a time.
Reaction Limits
Position

Defines the reaction limit for position (reaction circle). The value
entered (between 0 and 1000 m) is the radius of the reaction
circle for the mobile target.
Position Filter
Filter constant

Enter the required filter constant (0 to 100%) to increase or

decrease the degree of position filtering. A high percentage (50
to 100%) gives a high filtering which is recommended if there is
noise or unstable measurements from the transponders. A low
percentage (0 to 50%) gives a low filtering which should be used
if measurements from the transponders are stable and reliable.

3 MULTI TARGETING
This section describes the Follow Target dialog box in a K-Pos
system that has the Follow Multiple Mobile Targets configuration.

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To display the Follow Target dialog box, select AutoPos Follow

Target

Mobile Targets

To select a transponder, in the Available list, highlight the required

transponder and click Add. To remove a transponder from the
Selected list, highlight the transponder you want to remove and
click Rem.
Operation mode
Follow Position

Choose this to make the vessel follow the moving structure

with respect to position. The vessel will always have the same
position relative to the moving structure, while maintaining the
same absolute heading (setpoint) as shown in the following
illustration. At least one transponder must be selected for this
option to be available.

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Follow Heading

Choose this to make the vessel follow the moving structure with
respect to heading. The vessel will always have the same heading
relative to the moving structure, while maintaining the same
absolute position as shown in the following illustration. At least
two transponders must be selected for this option to be available.

Follow Position and Heading

Choose this to make the vessel follow the moving structure with
respect to both position and heading. The vessel will always have
the same position and heading relative to the moving structure
as shown in the following illustration. At least two transponders
must be selected for this option to be available.

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Reaction Limits
Position

Defines the reaction limit for position (reaction circle). The value
entered (between 0 and 1000m) is the radius of the reaction circle
for the mobile target.
Heading

Defines the vessels reaction sector for the heading relative to the
moving structure.
Position Filter
Filter constant

Enter the required filter constant (0-100%) to increase or

decrease the degree of position filtering. A high percentage
(50-100%) gives a high filtering which is recommended if there
is noise or unstable measurements from the transponders. A low
percentage (0-50%) gives a low filtering which should be used if
measurements from the transponders are stable and reliable.

4 ENTERING FOLLOW TARGET MODE

You can enter the Follow Target mode from either the Joystick
or Auto Position mode.
1

Enable a fixed position-reference system as the reference

origin (see the Position Information chapter in the relevant
K-Pos (OS) Operator Manual).

Select Sensors Reference System Settings.

The Reference System Settings dialog box is displayed.

Enable the transponder(s) on the target to be tracked.

Check the Mobile check box for the transponder if

necessary.

Select AutoPos Follow Target.

The Follow Target dialog box is displayed.

In the Available list, highlight the mobile transponder

you wish to use and click the Add button to select it.

When using Follow Multiple Mobile Targets, select

the required Operation mode.

Set the required Reaction limits and Position Filter

values.

Click the Apply button to use the values entered in

the Follow Target dialog box.

Press the FOLLOW TARGET mode button twice.

The FOLLOW TARGET status lamp is lit.
The SURGE, SWAY and YAW status lamps are lit.

10

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The reaction radius is displayed on the Posplot view

as a circle around the filtered position(s) of the mobile
transponder(s). For Follow Single Mobile Target, see
Figure 2. For Follow Multiple Mobile Targets see Figure
3.
Follow Single Mobile Target:
Figure 2

Posplot view in Follow Single Mobile Target mode

As the mobile transponder moves, the vessels position

setpoint remains unchanged.
When the mobile transponder reaches the edge of its reaction
radius circle, the position setpoint is updated automatically to
restore the vessel to the same position relative to the target,
and the reaction radius circle is redrawn around the new
position of the mobile transponder.

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Follow Target Mode

Follow Multiple Mobile Targets:

As the mobile transponders move, the vessels
position/heading setpoint(s) remain(s) unchanged.
When one of the mobile transponders reaches the edge
of its reaction radius circle, the position setpoint is
updated automatically to restore the vessel to the same
position/heading relative to the targets, and the reaction radius
circles are redrawn around the new positions of all the mobile
transponders.
Figure 3

Posplot view in Multi Target mode

When the Follow Heading operational mode is selected in Follow

Multiple Moving Targets mode, a Target Deviation presentation
is given in the General view, see Figure 4. The lines indicate a
limit where a heading change will be initiated.
Figure 4

12

Target Deviation presentation in General view

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5 CORRUPTED TRANSPONDER SIGNALS

It may occur that the signals from the target transponders are
corrupted. To avoid a sudden change in the vessels position
setpoint because of unstable measurements, a position setpoint
jump test is performed. If the distance between the previous
position and the new position is longer than a predefined limit, it
is assumed that the change is caused by unstable measurents (no
real position change).
The vessel maintains its present position and the following
warning message is displayed.
Follow target relative angle rejected

In this event the operational advice is as follows:

Take the K-Pos system to Auto Position mode to reset the
Follow Target function.
Consider using other target transponders and increasing the
reaction limits.

6 HEADING CONTROL
All of the standard methods for heading control are available as
described in the Changing the Heading Setpoint chapter of the
relevant K-Pos (OS) Operator Manual.
In the Follow Target mode, choosing System Selected heading
from the Change Heading dialog box will maintain the vessel
at the heading that requires the minimum power in the current
environmental conditions.
System Selected heading is not available in Follow Multiple
Mobile Targets mode when Follow Heading or Follow Position
and Heading is selected.

7 POSITION CONTROL
When in Follow Target mode, you can change the distance to
the target whenever necessary. All of the standard methods for
position control are available as described in the Changing the
Position Setpoint chapter of the relevant K-Pos (OS) Operator
Manual.

8 SPEED CONTROL
See Speed Setpoint dialog box and the Speed page of the Position
dialog box in the Changing the Position Setpoint chapter of the
relevant K-Pos (OS) Operator Manual for more information.

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Follow Target Mode

9 ACCELERATION
See Acceleration/Retardation Settings dialog box in the Changing
the Position Setpoint and Changing the Heading Setpoint
chapters of the relevant K-Pos (OS) Operator Manual for more
information.

10 RATE OF TURN
See Rate Of Turn page of the Heading dialog box in the Changing
the Heading Setpoint chapter of the relevant K-Pos (OS)
Operator Manual for more information.

14

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2006

Kongsberg Maritime

Kongsberg Maritime AS
P.O.Box 483
N-3601 Kongsberg,
Norway

Telephone: +47 32 28 50 00
Telefax: +47 32 28 50 10
Service: +47 815 35 355
www.kongsberg.com