Alstom DP System Description

c A-Series Dynamic Positioning System
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Volume 1 - Description and Operation Part 1 – DP System
CHAPTER 2
SYSTEM DESCRIPTION
LIST OF CONTENTS
1. DP CONTROL SYSTEMS..................................................................3
1.1 INTRODUCTION.................................................................................... 3
1.1.1 Simplex DP System ...........................................................................4
1.2 TECHNICAL DESCRIPTION .................................................................... 5
1.2.1 General ...........................................................................................5
1.2.2 DP System........................................................................................7
1.2.3 Power Control ................................................................................10
2. OPERATOR CONTROLS................................................................11
2.1 DP CONSOLE ...................................................................................... 11
2.1.1 Operator’s Panel............................................................................12
2.1.2 System Changeover........................................................................18
2.1.3 LCD Monitor ..................................................................................20
2.1.4 Equipment Rack .............................................................................21
2.2 MAIN DISPLAY SCREEN ....................................................................... 22
2.2.1 Display Conventions.......................................................................22
2.2.2 Upper Menu ..................................................................................26
2.2.3 Sensor & PME Selection and Monitoring ..........................................29
2.2.4 Additional Data..............................................................................31
2.2.5 Thruster Display .............................................................................32
2.2.6 Lower Menu...................................................................................32
2.3 MIMIC PAGES/WINDOWS ................................................................... 33
2.3.1 Alarms Page ..................................................................................35
2.3.2 Capability Plot Page .......................................................................36
2.3.3 Centre of Rotation (COR) Selection Window.....................................41
2.3.4 Drift Off Calculation Page ..............................................................42
2.3.5 Environmental Force Fast Learn Page ..............................................47
2.3.6 Gain Selections Window .................................................................49
2.3.7 Lat/Long Setup Page ......................................................................51
2.3.8 Mobile PME Data Page ...................................................................55
2.3.9 Mode Page Window .......................................................................56
2.3.10 Motion Display Page ......................................................................59
2.3.11 PME Data Page ..............................................................................72
2.3.12 PME Median Check Page................................................................74
2.3.13 PME Weightings Page.....................................................................75
2.3.14 Position Fix Repeatability Page ........................................................77
2.3.15 Power Mimic Page..........................................................................78
2.3.16 Power Trends Page.........................................................................80
2.3.17 Sensor Data Page...........................................................................81
2.3.18 Serial Link Monitor Page .................................................................82
2.3.19 Simulation Page .............................................................................84
2.3.20 Thruster Selection Window ..............................................................89
2.3.21 Thrust Vectors Page ........................................................................91
Chapter 2 System Description

Issue A © 2004 ALSTOM Power Conversion Ltd Page 1 of 124
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2.3.22 Thruster Demands Page .................................................................93

2.3.23 Thruster Feedbacks Page ................................................................94
2.3.24 Track Follow Page ..........................................................................95
2.3.25 Trends Page...................................................................................99
3. CONTROL MODES .....................................................................101
3.1 MONITOR.......................................................................................... 101
3.2 JOYSTICK MANUAL HEADING (JSMH) .............................................. 102
3.3 JOYSTICK AUTO HEADING (JSAH).................................................... 103
3.4 DYNAMIC POSITIONING (DP) ........................................................... 104
3.4.1 Anchor Moored Vessels ................................................................105
3.5 MINIMUM POWER............................................................................. 106
3.6 REMOTELY OPERATED VEHICLE (ROV) FOLLOW ............................... 107
3.7 SHIP FOLLOW ................................................................................... 108
3.8 AUTO TRACK..................................................................................... 110
3.9 SIMULATION ..................................................................................... 112
3.10 MODEL CONTROL ............................................................................. 113
4. TECHNICAL DATA......................................................................114
4.1 PROJECT SUMMARY .......................................................................... 114
4.2 ALSTOM SCOPE OF SUPPLY .............................................................. 114
4.3 SENSORS........................................................................................... 114
4.4 PME ................................................................................................... 115
4.5 THRUSTERS........................................................................................ 115
4.5.1 Outstations ..................................................................................115
4.5.2 Locations .....................................................................................115
4.6 CENTRES OF ROTATION ................................................................... 116
4.7 VESSEL PARAMETERS......................................................................... 116
4.8 IJS SERIAL LINKS ............................................................................... 117
4.9 DP SERIAL LINKS ............................................................................... 118

Page 2 of 124 © 2004 ALSTOM Power Conversion Ltd Issue A
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1. DP CONTROL SYSTEMS
1.1 INTRODUCTION
This section describes the equipment, parameters and signals that are used by
dynamic positioning (DP) systems to enable a vessel to be manoeuvred in the various
control modes.
The type of DP system fitted to this vessel is the A-Series, with Version 2 software and
comprises the following ALSTOM Dynamic Positioning (ADP) products:
• DP11 – stand alone simplex system, (Class 1).
Vessels fitted with a stand alone system are controlled completely by the DP system
and its associated equipment.

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1.1.1 Simplex DP System
The simplex system comprises one of every component. There is no redundancy and
therefore all the thrusters interface with the DP system via one programmable logic
controller (PLC) located in the outstation.
The twinplex system comprises two independent Simplex DP Consoles, each receiving
the same inputs. Either console can be used to control the vessel by means of a
manual changeover switch.
Anemometer
Gyrocompass
VRU
DGPS
Laser
Independent
Joystick
DP
Workstation
Controller
Cabinets
Azimuth
Thrusters
Tunnel
Thrusters
Simplex DP System

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1.2 TECHNICAL DESCRIPTION
1.2.1 General
A block diagram of a typical DP system and how the components are linked together
is shown below.
SHIP'S GYRO
SUPPLY 230V 230V DGPS
ISOLATION UPS
DP CONSOLE
TRANSFORMER MODULE
OUTSTATION
PME CONSOLE
SENSORS PME
HYDRO
GYRO LASER
ANEMOMETER VRU DGPS ACOUSTIC
COMPASS SYSTEM SYSTEM
WIND
SPEED HEADING HEAVE ROLL
POSITION
AND TRUE ROLL PITCH
DIRECTION PITCH POSITION
NORTH
RANGE AND (SEABED)
BEARING
GYRO
PME
DP WORKSTATION WORKSTATION
DP
FIELD
STATION
TUNNEL/AZIMUTH
PROPELLERS RUDDERS
THRUSTERS
Typical DP System Block Diagram

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DP Console
All PMEs, sensors and thrusters are monitored from the DP console via a control
processor. The control processor is located in the lower half of the console and
provides control for:
• All DP logic.
• Input and output system interfaces.
• Display facilities.
PME Console
The PME console, if supplied, is configured to integrate the PME control systems, such
as the hydro acoustic control panels and tautwire control panel into the DP system.
Thruster Outstation
The thruster outstation contains a programmable logic controller (PLC) that is

connected to the DP console via an ethernet network .
Control data, commands, feedback signals, digital inputs and outputs between the
thruster outstation and DP console are communicated via the FIP link.
The outstation converts the digital DP signals to an analogue ±10V or 4-20mA

signal which is sent to the thruster control systems.
UPS Module
The UPS module consists of a battery, a battery charger and an inverter so that a
230V a.c. supply is available to the DP system in the event of a failure of the ship’s
supply. The UPS is fitted with an automatic ‘no-break’ changeover switch so that the
battery/inverter is used if the ship’s supply fails. The power source is automatically
switched back on upon restoration of the ship’s supply.

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1.2.2 DP System
The DP control system is a multiloop feedback control system.
The primary function of the control system is to keep the vessel at a specific location
or on a specific track and on a set heading. The system can handle transient
conditions such as changes in external forces, failure of a PME/sensor signal and
system hardware failures.
The control system is divided into two separate functions:
• Measure the deviation of the vessel from its target position and calculate the
forces needed to restore the vessel to the required position.
• Measure the environmental forces acting on the vessel (sensors) and calculate
the forces needed to counteract their effect.
The four basic control actions can be summarised as:
• Measure the vessel’s deviation from its target position and set heading.
• Calculate the deviation in the X, Y and N axes.
• Calculate the required counteracting forces in the X, Y and N axes.
• Transform the counteracting forces into commands to the individual thrusters.

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The DP system software is based on the Kalman Filter which is, in essence, a
mathematical model of the ship. The Ship Model is constantly updated from
measurements made by the PME and sensors. The vessel control system schematic
diagram shows the components of the control system.
Vessel Control System Schematic Diagram
• Model Ship – the Model Ship is subjected to the same forces that affect the real
vessel: thrusters, wind, waves, currents, anchors and cable/pipe tensioners etc.
and provides a mathematical model of the vessel at any given time. The Model
Ship creates estimates of the vessel position and speed together with current and
wave forces. These estimates are compared with the required position/speed
input by the operator and thruster demand. An estimate of the achieved thrust is
then fed back to the Model Ship.
• State Gains – factors that determine the thrust from the position (A) and speed
(B) errors.
• Thruster Allocation – takes the total Thrust Demand, expressed in X, Y and N

coordinates, to be applied to the vessel’s thrusters and converts it into individual
thruster demands (T1-Tn).
• Actual Thrusters – all available thrusters.
• Thruster Models – take the individual thruster demands and calculates the total
thrust exerted on the vessel.
• Pool – combines (pools) the various estimates of the vessel position from the
PME and creates a Best Estimate of Position.
• Kalman Gains – factors which vary between 0 and 1 to determine if the model
or estimated position is to be given preference. A value of 0.5 provides equal
weight.

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• Wind Speed and Direction – anemometer signals provide the estimated wind
forces acting on the vessel.
The use of the Model Ship provides several advantages:
• Signals from sensors can be filtered to reduce noise and therefore thruster
activity.
• Rogue data can be compared with model data and rejected if necessary.
• Data from different PME systems can be combined while matching the
characteristics of the individual reference system.
• In the absence or loss of position or heading signals, the vessel can remain
under automatic control using predicted data based on the conditions of the
previous few minutes. This is called model control or dead reckoning.
• Positioning can be maintained over a greater range of weather conditions,

enabling the vessel to extend its operational window.
The rejection criteria for position fixes are:
• Position jumps greater than the rejection limit set by the operator on the PME
Median Check page.
• Fix frozen – two consecutive fixes unchanged.
• Age of differential greater that 10 seconds, and not zero seconds.
• Fixes not differentially corrected.
• Position jumps greater than rejection window set by the operator on the PME
Weightings page.
• Serial PME’s message received and checked unhealthy.
The Measurement of Origin (MO) of the vessel is the reference point from which
force offsets are defined and the Centre of Rotation (COR) and PME positions
referred. On this vessel the MO is defined as:
• X-axis – The zero point, which is specified in the vessel design. The X-axis is
positive towards the bow of the vessel and negative towards the stern.
• Y-axis – The vessel’s centre line is the zero position. The Y-axis is positive for
objects on the starboard side and negative for objects on the port side.
• Z-axis – The keel is zero. The Z-axis is positive for objects above the keel.

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1.2.3 Power Control
During commissioning a critical margin is set as a percentage of the maximum

power available from the online generator(s). When the power demands exceed this
critical margin, the power to the thrusters is ‘chopped’ back quickly, to below the
critical margin. Power chop helps to protect against generator overload and a
possible system blackout. The power to the thrusters is then slowly increased
exponentially up to 95% of the critical margin. This enables an extra generator to be
easily brought online. The system leaves power chop control when the thruster
demands fall below 95% of the critical margin.

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2. OPERATOR CONTROLS
2.1 DP CONSOLE
The DP console consists of:
• An operator’s panel.
• An LCD monitor (1280 x 1024 pixels).
• An equipment rack.
LCD
Monitor Equipment
Rack
Operator's
Panel
DP Console

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2.1.1 Operator’s Panel
The operator’s panel consists of:
• Left and right selection keypads.
• A numeric keypad.
• A trackerball panel.
• A joystick panel.
Right Selction
Keypad
Left Selection
Keypad
Numeric
Keypad
Trackerball
Joystick Panel Panel
Operator’s Panel

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Left and Right Selection Keypads
The two 15-button selection keypads are configured for this DP system to provide the
relevant facilities for the vessel. The selector buttons and indicators are used in
conjunction with the [Enable] button on the joystick panel. The same facilities are
available on or via the Motion Display page.
The selection keypads are grouped into functions as shown below.
Thruster Mode
Selection Selection
Gain Sensor
Selection Selection
Left And Right Selection Keypads
Left Hand Selection Keypad
STBD PORT THRUST FAST

RUDDER RUDDER VECTORS LEARN
STBD PORT THRUST
PROP PROP DEMANDS
THRUSTER THRUSTER THRUSTER THRUST
1 2 3 FDBK
Right Hand Selection Keypad
GYRO GYRO GYRO

3 2 1
AUTO ROV ANEM ANEM
TRACK FOLLOW 2 1
LOW MEDIUM HIGH VRU VRU
GAINS GAINS GAINS 2 1

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Numeric Keypad
The numeric keypad is used to enter data into the DP system in conjunction with the
windows appearing on the screen. This performs the same function as the numeric
keypad window – the choice of operation is that preferred by the operator.
Numeric Keypad
Trackerball Panel
The trackerball is used to move the cursor over the screen and the cursor buttons
used to select objects, menu buttons etc. The trackerball panel performs the same
functions as a standard mouse. Either cursor button can be used to select devices
with the cursor.
Trackerball Panel

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Joystick Panel
The joystick panel provides the facilities for:
• Manual position control.
• Manual heading control.
• Control mode selection.
• Graphics and lamp dimmers.
• Alarm acknowledge.
• Heading and position LCD display.
The [Control Here] button is used to transfer control to this DP console. The button
LED flashes when control is available and changes to a steady light when the button
is pressed.
Heading
Dim Control LCD
Graphics Knob Display Joystick
Dim
Lamps
Set Fix Change Position Joystick

Heading Present Position Change Power
Heading Increment
Decrease Heading Increase Fix
Heading Increment Heading Present
Position
JSMH JSAH DP MIN AUTO

POWER PILOT
ENABLE LAMP CONTROL COMMS SYSTEM

TEST HERE ALARM ALARM
Joystick Panel

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Manual Position Control
Manual position control can be performed using the joystick or incremental buttons.
The joystick provides manual control of the vessel in the fore/aft (X-axis) and
port/stbd (Y-axis) directions and is available in JSMH, JSAH, Auto Sail and Auto Pilot
control modes. The level of thrust is determined by the amount the joystick is moved
in the X and Y axes. The toggle [Joystick Power] button provides a choice between ½
and full power for full deflection of the joystick. The selected power setting is
indicated by LEDs above the button.
The incremental buttons provide the facility for making incremental adjustments of
the vessel position in the fore/aft (X-axis) and port/stbd (Y-axis) directions and are
available in DP, Min Power and ROV Follow control modes (follow a defined target).
The toggle [Position Change Increment] button provides the choice between 1m and
5 m increments. The selected increment setting is indicated by LEDs above the
button. The [Change Position] buttons are used in conjunction with the [Enable]
button and select the direction of movement. Pressing the centre [Fix Present
Position] button stops any incremental movement and selects the current vessel
position.
Manual Heading Control
Manual heading control can be performed using the heading control knob or
incremental buttons.
The heading control knob provides manual rotation of the vessel around its centre of
rotation (COR). The action of the knob depends on the control mode selected. In
JSMH mode the amount of turning movement about its centre, to port or starboard,
is proportional to the amount the knob is rotated. In all modes, except JSMH and
Min Power, the knob can be used to setup a heading change, up to 170o port or
starboard, around its centre. The heading change is implemented by pressing the
[Set Heading] and [Enable] buttons. The speed of rotation is set by the operator
using the [Change Heading] button on the Motion Display page.
The incremental buttons provide the facility for making incremental adjustments of
the vessel heading and are available in all control modes. The toggle [Heading
Increment] button provides the choice between 1o and 5o increments. The selected
increment is indicated by LEDs above the button. The [Change Heading] buttons are
used in conjunction with the [Enable] button and select the direction of rotation.
Pressing the centre [Fix Present Heading] button stops any incremental movement
and selects the current vessel heading.
Control Mode Selection
Control mode selection buttons are provided for JSMH, JSAH, DP, Min Power and
Auto Pilot. These buttons are used in conjunction with the [Enable] button to select
the required mode.

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Graphics and Lamp Dimmers
The rotary [Dim Graphics] knob adjusts the brightness of the lights under the button
descriptions.
The rotary [Dim Lamps] button adjusts the brightness of the button LED indicators
and the LCD Display backlight.
The [Lamp Test] button illuminates all button LEDs.
Alarm Acknowledge
The [Comms Alarm] button LED indicates a communications failure between the DP
operator controls and processor. Pressing this button accepts the alarm and silences
the buzzer. The button LED lights again when communications are restored.
The [System Alarm] button LED flashes when any system alarm is activated. Pressing
the button accepts the alarm and the LED changes to a steady light. The LED
extinguishes when no alarm is present.
Heading and Position LCD Display
The left hand side of LCD Display shows the actual measured vessel heading (H) and
the set heading (S). The right hand side of the LCD Display shows either joystick
demand (0-10)/turning moment demand (±10) or radial error/linear distance to
destination depending on the control mode selected.

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2.1.2 System Changeover
The proposed changeover procedure is as follows:

ALSTOM will provide a three position (Manual/AJS/ADP) stay-put changeover switch
is to be installed in a suitable location on the bridge. Each switch position has volt
free contacts for use during the changeover operation.
The changeover switch is interfaced to the AJS & ADP controllers.
Manual
In ‘MANUAL’ selection the vessel propulsion systems will be controlled from the
manual desks on the bridge. The Alstom system will maintain zero reference in this
mode (i.e. the propulsion will not be ‘available’ to the Alstom system).
AJS Selection
When switched to AJS, the switch contact closes and the following events occur:
The AJS controller receives the AJS mode selection, and will then close a volt free
contact for each propulsion device to indicate the AJS system is requesting control.
Providing the propulsion device is healthy and running, the propulsion device will
close a volt free contact to acknowledge availability for AJS control. Upon receipt of
propulsion available signals, the IJS system takes control (the AJS system is in
control).
ADP Selection
When switched to ADP, the switch contact closes and the following events occur:
The ADP controller receives the DP mode selection, and will then close a volt free
contact for each propulsion device to indicate the DP system is requesting control.
Providing the propulsion device is healthy and running, the propulsion device will
close a volt free contact to acknowledge availability for DP control. Upon receipt of
propulsion available signals, the DP system takes control (the DP system is in control).
(See figure 1 below)

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AJS MAN ADP

1 2 3 Changeover switch
(Alstom
Supply)
DP CALL THRUSTERS/
RUDDERS X 7 VOLT (only when switch in
FREE CONTACTS postion '3')
ADP
CONTROLLER ACCEPT DP CONTROL
CABINET THRUSTERS/RUDDERS
x 7 CONTACTS
THRUSTER/RUDDER
CONTROL
CABINETS
DP CALL THRUSTERS/
RUDDERS X 7 VOLT (only when switch in
FREE CONTACTS postion '1')
AJS
CONTROLLER ACCEPT DP CONTROL
CABINET THRUSTERS/RUDDERS
x 7 CONTACTS
Figure 1

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2.1.3 LCD Monitor
The LCD monitor consists of:
• Main display screen.
• Display controls.
• Monitor controls (at rear of monitor).
Main
Display
Screen
Monitor
Power Indicator Controls
Light Sensor
Auto Indicator
Tilt Knob
Brightness
Control
LCD Monitor
Main Display Screen
Refer to Section 2.2.
Display Controls
The Tilt Knob is used to change the angle of the monitor to suit the operator. To
adjust the angle: pull the tilt knob, adjust the monitor angle then release the tilt
knob.
The screen Brightness Control rotary knob varies the brightness of the display to
compensate for different ambient lighting conditions. The control has two modes of
operation: ‘auto’ and ‘manual’. When ‘auto’ is selected, by a button on the rear
maintenance panel, the brightness setting is controlled by the Light Sensor on the
front panel. However, the Brightness Control overrides the Light Sensor to some
extent to allow for user preference. When ‘manual’ is selected, the Brightness
Control operates normally and the Light Sensor is de-selected.

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The Auto Indicator LED lights (green) if light sensing is in ‘auto’ mode. The
brightness of the LED varies with ambient lighting.
The Power Indicator LED lights (green) when the main display screen is switched on
by the On/Off rocker switch at the rear of the monitor. Warning: mains voltages
may be present within the unit whether the Power Indicator is lit or not.
Monitor Controls (at rear of monitor)
The On/Off rocker switch controls power to the display. Display ON is designated
by the ‘I’ side of the switch being depressed and the green rocker edge showing.
Display OFF is designated by the ‘0’ side of the switch being depressed and the
black rocker edge showing. Warning: Parts of the internal circuitry will remain at
mains potential even when the switch is OFF.
The two-position Control Panel Enable toggle switch should only be used by
technicians to setup the display. It activates the on screen display (OSD) control
panel and lights the green LED when switched on. Normally the OSD control panel
should be switched off (LED off) to prevent accidental adjustment of stored settings.
2.1.4 Equipment Rack
The equipment rack houses the marinised PC (main processor), A-series marine
controller (AMC) and input/output modules.

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2.2 MAIN DISPLAY SCREEN
The main display screen is divided into seven areas as shown below.
Typical Main Display Screen Structure
The display is managed by selecting items using the display cursor. The cursor is
moved around the display using the trackerball and items selected by clicking the
cursor buttons.
2.2.1 Display Conventions
Mimic Pages and Windows
The half screen size mimic pages available to the operator are displayed in pairs.
There are normally two different pages displayed, selected by the operator, when the
system is active. A full list of mimic pages available on this vessel is given in
Section 2.3.

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Pop-up windows appear on top of the page displays whenever operator inputs are
required. Pop-up windows may appear automatically when a page is selected, or
selected from the lower menu buttons. Windows vary in size and can appear
anywhere on a page – they can be positioned anywhere on a page by selecting and
dragging the title bar with the trackerball and cursor keys.
Typical Window Structure
The title bar identifies the window and the [Quit] button is used to close the window.
The information area shows relevant data. The action buttons either toggle between
displays or call up another window.

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A keypad window is automatically displayed when a numeric or alpha-numeric value

input is required. The window has a display field which shows the value of the data
to be altered. The new value can be entered using the cursor and numeric buttons
or by using the numeric keypad on the operator’s panel. If the operator’s panel is
used, the cursor must be placed over the window display field. Clicking the [Enter]
button shows the Confirmation window which is used to confirm the new value. If
the new value entered is outside permitted limits it will be rejected when the [Enter]
button is selected. The reason for the rejection is shown on the window.
Typical Keypad Windows
Buttons
Buttons are coloured boxes, usually with a shadow, which contain descriptive text,
and allow the operator to interact with the DP system. Generally, boxes without a
shadow are for information only and cannot be selected by the operator. Buttons
representing devices on pages and windows are colour coded as shown in
Table 2.1.
Colour Meaning
Grey Not selected and not available
Blue Available but not selected
Yellow Selected and available
Yellow – flashing Selected but not available
Red Alarm
Table 2.1 Colour Conventions

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Available means that the DP system believes the device is working.
Selected but not available indicates that the system may have detected a fault.
Depending on the importance of the device the non-availability may be immediate
and permanent or temporary for up to 30 seconds while the system checks the
validity of the signals. If the fault lasts for 30 seconds the button will turn grey
indicating that the device has been automatically deselected. When the device
becomes available again it must be reselected by the operator.
Confirmation
Any amendment to data which will affect/alter the operational control must be
positively confirmed as correct before it will be accepted. After any change, the pop-
up Confirmation window appears which contains details of the change and a
[Confirm] and [Cancel] button. Selecting [Confirm] activates the change and
selecting [Cancel] deletes the change.
Typical Confirmation Window
Range Scale
Several pages and windows have a range scale and slider arrow which is used to set
the variable value for a device. There are three methods of altering a current setting:
• Select the slider arrow and move it to the new desired value.
• Place the cursor over the scale line at the desired position and click the cursor
button. The slider arrow will move directly below the cursor.
• Some range scales have a data box which allows a new value to be entered
using the numeric keypad.

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2.2.2 Upper Menu
The upper menu provides a quick and simple method of viewing the important
operational parameters and the current status of the system.
Typical Upper Menu
Position
This field displays the vessel position in Lat/Long or E/N coordinates. The choice of
coordinates is setup using the [Options] button on the Lat/Long page.
Heading
This field shows the measured heading of the vessel by the gyrocompass (Compass)
and the heading the vessel is set to maintain (Set Heading), depending on the
selected control mode.
Console Status
This can be either ‘on-line’, ‘off-line’ or ‘standby’. When a console is ‘on-line’ it

provides the reference signals for the thrusters.
Radial Error/To Dest
This field is shown in the Console Status area when a DP control mode is selected.
The field toggles between Radial Error and Distance to Destination.
Radial Error is the filtered distance between the target and control point.
Distance to Destination is the distance between the control point and destination.
When an ‘off position error’ is detected, the background of this field changes to red.
Control Mode
This shows the currently selected DP system control mode. The temporary loss of
PME or sensor data forces the system into Model Control in which case the
background to this field changes to red.

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Console in Control
For systems with two or more DP consoles, or a portable joystick panel, this field
shows which console is in control of the thrusters. For the console in control this field
background is yellow, for other console(s) the background is grey. If the field is
blank then no thrusters are under DP system control.
To transfer control to another console:
• Click the console in control field to display the Offer Control to Other Station
window.
• The field flashes and control is transferred to the first console taking control
within 15 seconds.
Control Status
There are three options for control status:
• Manual – The vessel thrusters are not under DP system control.
• Alstom – At least one thruster is under DP system control.
• Simulation – The DP system is running off-line with simulated inputs but no

outputs to the thrusters.
Date and Time
This field displays the date and time provided by the system clock. To change the
data and time:
• Click the field to display the Time Edit Window.
• Click on the required date/time button(s).
• Enter the new value(s) using the numeric keypad and confirm.
• When complete click the [Enter] button.
Alarm
This field shows which console is in control (A, B etc), the time and the latest alarm
message. An unaccepted alarm has a flashing red background. An accepted alarm
has a steady red background. A fault which has recovered itself but the alarm not
accepted has a flashing white background.
To accept an alarm:
• Click on the alarm field – if present, the next oldest unaccepted alarm will be
displayed.

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• Continue clicking the alarm field until all alarms have been accepted.
• If there are many unaccepted alarms it is easier to click the red bell button on
the lower menu and then click the [Accept Page of Alarms] button.
Configuration Status
• Simplex – At least one thruster is under DP system control.

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2.2.3 Sensor & PME Selection and Monitoring
Sensor and PME devices are selected for use by means of the Sensor & PME
buttons/indicators at the bottom of the screen or via the PME Data page.
PME inputs to the system can be adjusted using the PME Median Check page and the
PME Weightings page. The inputs can be monitored on the PME Data page and
Position Fix Repeatability page. PMEs can be selected for display on the Motion
Display page by clicking the PME Display options button.
The sensor & PME selection buttons provide two functions:
• To select/deselect a sensor or PME device by clicking on the button.
• To show the status of the device:
Grey – not available.
Blue – available but not selected.
Yellow – selected.
Yellow flashing – selected but not available.
The row of indicators provides a convenient display of the sensor and PME readings.
The sensor values are also shown on the Sensor Data page. The PME errors
correspond to the ‘present values’ on the Position Fix Repeatability page, as a digital
reading and a bar graph.
Typical Sensor and PME Bar

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Acoustics Artemis
Riser Angle
Blue
Yellow
Fanbeam
LBL
DGPS Gangway
Hyperfix
Microfix
Survey
Rotating Laser Syledis

Scanner
Tautwire
Trisponder
PME Icons

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2.2.4 Additional Data
This screen area shows various vessel data, depending on the control mode, such as
joystick summary display or control buttons.
Joystick Summary Display
This display shows a summary of the demanded and actual thrusts. The upper
section shows the position of the heading control knob as a large white bar and the
actual turning moment provided by the thrusters as a smaller navy blue bar
superimposed on top of the white bar. The position of the joystick is displayed as a
large white arrow and the actual thrust acting on the vessel as a smaller blue arrow
superimposed on the white arrow. At the bottom of the display are digital readings
of the actual position of the joystick (JS 1-10) and turning moment (TM ±10).
Typical Joystick Summary Display
Control Buttons
The control buttons provide a convenient way of selecting/deselecting attributes for a

particular control mode.
Examples of typical control button displays are shown below.
Typical Control Buttons

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2.2.5 Thruster Display
The thruster display area provides thruster selection and status buttons and simplified
thruster feedback graphics.
The thrusters are selected/deselected by clicking on the individual thruster buttons [1]
– [6], or all the thrusters can be selected by clicking on the [Thrusters] button. The
status of the thrusters is shown by the button’s colour.
The tunnel thruster and propeller graphics (1-6) show demand and feedback as
±0-100% of thrust. The rudder displays show the demand and feedback of the stbd
and port rudder angles as ±45o segments.
Typical Thruster Display
2.2.6 Lower Menu
The lower menu contains short cut buttons to display the most frequently used pages
and windows so that they can be quickly selected for viewing.
Typical Lower Menu

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2.3 MIMIC PAGES/WINDOWS
Mimic pages and windows can be selected for display either from buttons on the
lower menu or from the Mimic Index.
The buttons on the lower menu are configured to enable the most frequently used
windows/pages to be easily selected. These buttons are the usual method of
selecting mimic pages/windows.
However, all mimic pages applicable to the vessel can be selected from the Mimic
Index windows, which are displayed using the Mimic Index button on the lower
menu.
Three mimic windows provide a full list of all the mimic pages available:
• The main Mimic Index window lists the most frequently used mimics and
provides access to further mimics.
• Standard Mimics
• Maintainer’s Mimics
The mimic windows list pages that can be displayed on the left and right display area
of the screen. The [Left] button with the red background indicates the current selected
left hand page and the [Right] button with the green background indicates the
current selected right had page. Any page can be displayed in the right or left hand
page area but two identical pages cannot be displayed.
Mimic Page/Window Cross Reference

Alarms 0
Capability Plot 2.3.2
Centre of Rotation (COR) Selection Window 2.3.3
Drift Off Calculation 2.3.4
Environmental Force Fast Learn 2.3.5
Gain Selections Window 2.3.6
Lat/Long Setup 2.3.7
Mobile PME Data 2.3.8
Mode Page Window 2.3.9
Motion Display 2.3.10
PME Data 2.3.11
PME Median Check 2.3.12
PME Weightings 2.3.13
Position Fix Repeatability 2.3.14
Power Mimic 2.3.15

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Mimic Page/Window Cross Reference

Power Trends 2.3.16
Sensor Data 2.3.17
Serial Link Monitor 2.3.18
Simulation 2.3.19
Thruster Selection Window 2.3.20
Thrust Vectors 2.3.21
Thruster Demands 2.3.22
Thruster Feedbacks 2.3.23
Track Follow 2.3.24
Trends 2.3.25

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2.3.1 Alarms Page
The Alarms page displays a summary of current alarms with the oldest alarm at the
top of the page. Three alarm states are displayed:
• Steady red alarm – active, accepted alarm.
• Flashing red alarm – active, unaccepted alarm.
• Flashing white alarm – alarm has become inactive but has not been accepted.
Clicking on the alarm field accepts the alarm and clicking the [Accept Page of
Alarms] button accepts all the alarms on the displayed page (undisplayed alarms are
not accepted). If the alarm list exceeds one page then the newer alarms can be
views by scrolling down to the next page.
Alarms Page
Return to Mimic Pages/Windows 2.3.

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2.3.2 Capability Plot Page
The Capability Plot page provides an offline facility to check the ability of the vessel
to maintain position and heading under different environmental conditions, with
different combinations of thrusters, generators etc. The Capability Plot page is
divided into several areas, some used for setup and calculation and some for
displaying results.
Capability Plot Page

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The capability plot is carried out in two stages:
• Setup and perform calculations.
• Examine and display results.
Setup and Perform Calculations
The Select Conditions area at the lower left of the

page contains a [Manual]/[Actual] toggle button
which allows the operator to select various
conditions. When [Actual] is selected the [Full]
conditions are selected. When [Manual] is selected
all six buttons below are selectable by the operator:
[Full] - All equipment is selected as available.
[Present] - The current vessel configuration is selected.
[User] - The configuration is set by the operator using the button in the configuration
area on the top right of the page.
[-Thruster] - Calculations are made with each thruster failed in turn, to determine the
worst result for each angle.
[-Generator] - Calculations are made with each generator failed in turn, to

determine the worst result for each angle.
[-Bus] - Calculations are made with each bus section failed in turn, to determine the
worst result for each angle.

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The user configuration is set by the operator using the buttons in the configuration
area on the top right of the page:
[Copy Pres] - The current vessel configuration is selected

(same conditions as Present).
[Set Full] - All equipment is selected as available (same as

Full).
[Tn] - Selects/deselects each thruster.
[Stbd]/[Port] - Selects/deselects the rudders.
[Gn] - Selects/deselects each generator.
[n-n] - Opens/closes each bustie circuit breaker.
[M3] [Sn] - Switches the motor (thruster) onto bus section 1

or 2.
[Free Prop Rud] - Selects the thruster mode.
[---kW] - Hotel load entered by the operator using the numeric keypad.
[Copy] - Sets the hotel load to the current actual value.
External conditions can be setup using the buttons on the right lower area of the
page, together with the numeric keypad:
[Ext Force F1] - Same force as that setup on the

Thruster Demands page. When selected the colour
of this button corresponds to the arrow
representing this area on the graph. The force is
setup in tonnes [0.0t] and relative angle [000oR]
using the numeric keypad. The force can be
selected as [Fixed] or [Relative] in the calculation.
The [Copy] button sets the values to the current
vessel values as set on the Thruster Demands page.
[Ext Force F2] (Optional) - If available, this button sets up external forces not setup on
the Thruster Demands page. When selected the colour of this button corresponds to
the arrow representing this area on the graph. The force is setup in tonnes [0.0t]
and relative angle [000oR]. The force can be selected as [Fixed] or [Relative], where
the angle defined is relative to the wind angle being calculated.
[Waves] - Enables the wave height e.g. [3.0m] and relative angle e.g. [000oR] to be
entered. The force is setup in tonnes [0.0t] and relative wind angle [000oR]. The
force can be selected as [Fixed] or [Relative], where the angle defined is relative to
the wind angle being calculated.

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[Current] - Selects the current force in metres/second [0.0m/s] and relative angle
[000oR]. The force can be selected as [Fixed] or [Relative], where the angle defined is
relative to the wind angle being calculated.
Below the external conditions buttons are two buttons which enable parameters to be
setup and options to be displayed.
[Set Param] - Opens the Capability Plot Setup Parameter window which has the
following buttons:
[Gust Margin] – this margin provides a safety factor by increasing the wind
speed by the % entered.
[Alarm Margin] – the alarm margin is used to calculate an alarm plot based on
the Present conditions. The alarm plot is displayed inside the Present plot by
an amount set by the alarm margin.
[Num Dec Points] – sets the accuracy of the results to zero or 1 decimal point.
[Screen Opt] - Opens the Capability Plot Screen Options window which has the
following buttons:
[Vessel Outline]/[No Vessel Outline] – displays the vessel outline at the centre
of the capability plot if required.
[Wind Display]/[No Wind] – displays the prevailing wind as a vector from the
centre of the plot and proportional to the wind speed, if required. If the vector
is close to the Present plot the operator should take appropriate action.
[Sea Force]/[No Sea Force] – displays the prevailing sea force as a value and
arrow if required.
[Alarm Margin]/[No Alarm Margin] – displays the Alarm Margin plot if

required.
To perform the calculation(s), the required conditions are setup by the operator and
the [Perf Calc] button (Specify params if no parameters are set) clicked.

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After the required conditions have been setup by the operator, the [Perf Calc] button
is clicked and the system performs the calculations. Note that before any conditions
have been setup the [Perf Calc] button is named [Specify Params].
For [Full], [Present] and [User] configurations the system calculates the critical
windspeed at 15o angles using the set conditions. The display plot has the same
colour as the selected button. For [-Thruster], [-Generator] and [-Bus], the system
calculates the critical windspeed at 15o angles with one device failed at a time. The
worse case is then selected. The minus plots may contain different failed devices at
different angles.
Examine and Display Results
The Measured Data field shows the current data being measured/calculated/used by
the DP system.
Clicking the [Reset] button clears the calculations allowing the operator to setup a
new set of conditions.
The calculation results are shown in three forms:
A graphical plot showing coloured lines

corresponding to the setup conditions. The
dotted circles represent 20, 40 and 60m/s
wind speed. The shape of each coloured line
defines the critical wind speed for the
direction at which the vessel will not be able
to maintain position with the defined setup
conditions.
A readout of critical wind speed at the selected angle is shown in the Select
Conditions area at the lower left of the page. When the [Manual] button is selected,
clicking on the degrees in the graph area displays the critical wind speeds for the
selected setup conditions – the angle is displayed with the wind speed below. If the
[Manual] button is toggled to [Actual] the critical windspeed for the current wind
direction, using the Preset conditions, is displayed.

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2.3.3 Centre of Rotation (COR) Selection Window
The Centre of Rotation (COR) Selection window enables the vessel control point to be
determined. The control point is the position about which the vessel rotates, and acts
as an offset when all measurements are referenced to the centre of the vessel.
COR Selection Window
The COR Selection window allows the control point of the vessel to be selected by
clicking the appropriate [COR-] button. The currently selected COR is shown as a
red circle in the vessel outline and the button with a yellow background. Clicking
one of the [COR1-3] buttons selects one of the nominal COR positions. Clicking the
[COR4] button allows the operator to set any COR position by entering the numbers
in the [F/A(m)] and [P/S(m)] fields. The [COR at Ship Centre] button selects the
vessel’s centre as the COR (this may be identical to one of the nominal CORs).
The vessel outline on the display faces either forward or aft depending on the DP
console position.

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2.3.4 Drift Off Calculation Page
The Drift Off Calculation page provides an offline facility to check the effects of the
environmental forces on the vessel if there is a power failure. The page allows the
operator to input initial position and environmental conditions, select the time or
distance reporting intervals and to display the results in a graphical and numerical
table format.
Drift Off Calculation Page

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The wind, current and wave conditions are entered using

the buttons on the upper right hand of the screen together
with the numeric keypad. The vessel position can be input
as the actual vessel position in Northings and Eastings, to a
false origin which can be a rig, land etc. or to zero to make
the current position as the origin. Heading and vessel
velocity in N and E axes are then input. The [Duration]
button displays the Drift Off Screen Options window. This
allows the time to be set, in minutes and seconds, over
which the calculation will be made. This can be up to 120
minutes.
Setup
Setup is performed using the buttons on the lower right

hand side of the display.

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[Screen Options] - Clicking this button opens the Drift Off Screen Options window
which has the following buttons:
[Current Vessel] - Toggles on/off the vessel in black with its true heading.
[Start Vessel] - Toggles on/off the vessel in orange with its input heading.
[Path Vessels] - Toggles on/off the vessel display in orange along the path.
[Mark Vessel] - Toggles on/off the vessel in white at the marker position.
[Polar] - Toggles between Cartesian and polar grid.
[Fixed Vessel] - Toggles between a dotted outline of a fixed size vessel and
solid line vessel outline proportional to the display scale.
[Wind Display] - Shows the wind velocity and direction in magenta.
[Wave Display] - Shows the wave velocity and direction in brown.
[Current Display] - Shows the current velocity and direction in purple.
[Velocity Display] - Shows the vessel velocity and its direction in orange
[Fixed Vessel - Inputs the size of the fixed vessel outline between 0.1 and 1 using the
numeric keypad.
[Reset Origin - Resets the coordinate origin to the centre of the display if it has been
moved away.
[Set Marker] - Selects the maker option – background is yellow when selected. This
facility allows the operator to have a reading of the exact vessel position at any point
along the track. Clicking the [Set Marker] button turns the cursor into a white marker
which can be placed over the track. Clicking the cursor button displays a white
vessel outline and the position details are displayed at the foot of the vessel position
table.
[Set Def Times - Selects the reporting interval as the default times of 1 minute, 2
minutes ......

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[Sel All Times] - Displays the Drift Off Set All Times window which enables the
reporting interval as defined times to be selected using the numeric keypad.
[Set Def Dists] - Selects the reporting interval as the default radial distances of 10m,
20m etc.
[Set All Dists] - Displays the Drift Off

Set All Distances window which
enable the reporting interval as the
defined radial distances to be
selected using the numeric keypad.
[Extreme Motion] - Displays the Extreme Motion window which gives an estimate of
the changes in the environmental conditions during the time duration.
[Perf Calc/Reset] - When all the details have been input and selected clicking the
[Perf Calc] button performs the calculation. The button then changes to [Reset] and
another set of details can be input.

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Results
The results are displayed graphically as a series of orange outlines, at either time or
distance intervals as selected, along an orange path. The results table is displayed
on the bottom left side of the screen:
[time (mm:ss)] – shows either the set time

intervals or the times for the set distances.
Clicking the time button displays the Drift
Off Set A Time window which enables times
to be entered using the numeric keypad.
[dist R act (m)] – shows the actual radial distance for set time intervals or the set
radial distances. Clicking the dist R act button displays the numeric keypad which
allows a set radial distance to be entered.
[dist R strt (m)] – shows the radial distance from the input start position, If the input
position is zero it is the same as the dist R act.
[dist N (m)] – the actual N distance.
[dist E (M)] – the actual E distance.
[heading (oT)] – the vessel heading.

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2.3.5 Environmental Force Fast Learn Page
During normal operation the DP system builds up a model of the average

environmental force that the thrusters are counteracting over a period of 12 minutes.
The current value of this force can be displayed on the Motion Display page as Sea
Force. If the vessel is subject to a large change in the environmental force acting
upon it (which might occur if a large heading change is made) then the current value
of environment force will be incorrect until it is gradually corrected over a period of
12 minutes. The Fast Learn facility is used to reduce the time it takes for the system
to re-estimate the change in force.
The Environmental Force Fast Learn page which enables the various parameters to
be setup.
Fast learn can be initiated manually by the operator or automatically via a heading
change or plant signal. Fast learn operates for a fixed duration and in two phases; a
preset time constant and ramp down time. During the time constant phase a preset
multiplier is applied to the Kalman filter. During the ramp down time the multiplier is
reduced from the preset value down to 1.
Environmental Force Fast Learn Page

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The Environmental Force Fast Learn page provides the following options:
[Select Fast Learn] - Selects fast learn.
[Apply to X Axis] - Applies a time constant reduction to the X-axis.
[Apply to Y Axis] - Applies a time constant reduction to the Y-axis.
[Apply to Heading Axis] - Applies a time constant reduction to the heading axis.
[Permit Selection Manual] - Allows the operator to select fast learn.
[Permit Selection Plant] - Allows the operator to enable fast learn when triggered by
the plant.
[Permit Selection Heading Change] - Allows fast learn to be initiated when a heading
change has been made above the Minimum Heading Change.
[Min Heading Ch] - Sets the minimum heading change (1 to 360o) required to
initiate fast learn.
[Const Duration] - Sets the time constant duration (0 to 450 seconds). Default value
is 120 seconds.
[Ramp Duration] - Sets the ramp down time (0 to 450 seconds). Default value is 120
seconds.
[Max Gain Mult] - Sets the multiplier at which the Kalman filter will learn quicker.
Clicking the [Fast Learn] button on the lower menu shows the Env Force Fast Learn
window which indicates the Current Gain Multiplier. Selecting the [Fast Learn
Selected] button (blue if available, yellow if selected) displays the Time Remaining in
Fast Learn and Reason (method of selection) for Fast Learn fields.

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2.3.6 Gain Selections Window
The Gain Selections window allows the response time of the thrusters to be adjusted.
The displayed Gains Selection window is dependent on the active control mode.
One window is used in JSAH, DP and Auto Track and a second window is used in
Auto Pilot and Auto Sail modes.
Gain Selection Window (JSAH, DP and Auto Track)
The Gains Selection window allows the DP control system gains to be individually
adjusted. The gains set the response speed of the vessel – high gains give a faster
response than low gains. Generally the higher the gain the higher the thruster
activity and subsequent risk of overshoot if too high. High gains are normally used
in heavy weather conditions.
In JSAH, DP and Auto Track control modes, the operator can change the Fore/Aft,
Port/Stbd and Heading gains separately using the sliders, or all together using the
[Low Gains], [Medium Gains] or [High Gains] buttons. Low, medium or high gain
can also be selected by the [Gain] buttons on the operator’s panel left selection
keypad. If low, medium or high gain is selected using the Gain Selections window
the corresponding selection keypad button LED will light.
The Kalman Gain Levels slider allows PME data acceptance to be set between active
(0) and relaxed (5). Generally, a more relaxed gain allows the acceptance of a PME
with a noisier signal (e.g. USBL transponder in deep water) or slower update rates –
position keeping is worse but thruster activity is lower. When the Kalmans Gain
Levels slider is not at the zero position an alarm is raised to warn the operator that
the DP system is in the relaxed state.

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The specific Kalman gain settings are shown in the following table.
Kalman Use
Gain
0 (active) At least one low noise PME with no significant time lag, e.g. DGPS,
with or without USBL or LBL
1 (relaxed) Noisy PME with no significant time lag, e.g. poor quality GPS fixes.
If Kalman Gain Level 0 makes the vessel unstable or oscillatory, due
to noisy PME, then Kalman Gain Level 1 should be used
2 (relaxed) Similar to 1 but more relaxed
Kalman Gain Levels
In Auto Pilot and Auto Sail modes the operator can change the gains for the rudder
and weather.
Gain Selection Window (Auto Pilot and Auto Sail)
• [Rudder] – provides a simple proportional control factor to the rudder.
• [Counter Rudder] – provides a damping effect.
• [Rudder Limit] – sets a limit on the rudder.
• [Weather] – provides a cumulative effect for longer term weather changes.

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2.3.7 Lat/Long Setup Page
This button displays the Lat/Long Setup page which provides the operator with all the
facilities associated with Vessel Position Coordinates, Geodetics in Use and
Projections.
Lat/Long Setup Page
Vessel Position Coordinates - [Options] and [Edit Geodetics] buttons
The operator has the facility to display Geog coordinates for any geodetic, or Grid
coordinates for any local projection. Clicking the [Options] button displays the
Lat/Long Setup Options window which enables the way the vessel position is
displayed to be determined. The vessel position coordinates can be [Grid] (N/E) or
[Geog] (Lat/Long). If [Geog] is chosen, the display can be set to degrees [D] (up to
seven decimal places), degrees and minutes [DM] (up to five decimal places) or
degrees, minutes and seconds [DMS] (up to three decimal places).

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Clicking the [Edit Geodetics] button displays the Geodetic System Setup window.
Clicking the Geodetic Name button opens the Geodetics window

listing the ellipsoids available for selection.
Clicking the [New] button allows a new geodetic to be entered using the alpha
numeric keypad.
The addition of the new geodetic is completed by entering the required Datum Shifts
on the Geodetic System Setup window and clicking [Confirm]. This adds the new
geodetic to the Geodetic window list.
If the required ellipsoid is not listed it can be created by clicking the [Edit Ellipsoid]
button which opens the Ellipsoid System Setup window.

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Clicking on the Ellipsoid Name button opens the Ellipsoid

window listing the ellipsoids available for selection.
The values of the Semi-major Axis (a) and Flatness (l/f) can then be entered.
Clicking the [New] button allows a new ellipsoid to be entered using the alpha
numeric keypad. Clicking the [Confirm] button adds the new ellipsoid to the
Ellipsoid window list.
Geodetics In Use – [Local Geodetic System] and [DGPS*] buttons
Clicking on the Local Geodetic System button or one of the PME buttons opens the
Geodetic window which lists the geodetic systems available for selection. If the
geodetic system required is not listed it can be created using the [Edit Geodetics]
button.
Projections - [Calculator], [Edit Projections], [Nearest UTM] and [Local

Projection] buttons
The operator must define the projection method that will be applied to the Lat/Long
positions to produce grid coordinates for the Motion Display page.
Clicking the Local Projection button opens the Projection window listing the
projections available for selection.

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If the required projection is not listed it can be created by clicking the [Edit
Projections] button which opens the Projection Setup window.
Clicking the [New] button allows a new projection to be entered using the alpha
numeric keypad. . Clicking the [Confirm] button adds the new projection to the
Projection window list.
Clicking the Displayed Projection button opens the Projection

Type window which allows the type of projection to be selected.
Clicking the [Nearest UTM] button will automatically select the nearest UTM to the
vessel position as the Local Projection. This also places the vessel at the centre of the
screen.
Clicking the [Calculator] button opens the Coord Calculator window which shows the
local Geodetic used for the Lat/Long coordinates and the Geodetic/Projection for the
N/E coordinates. Converting from N/E to Lat/Long and vice versa is performed by
selecting the appropriate ‘to’ button. The conversion is then displayed on the
opposite side of the window. Clicking the [Geodetic] or [Projection] button selects the
required coordinates.

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2.3.8 Mobile PME Data Page
The Mobile PME Data page displays the status of the mobile PMEs.
Mobile PME Data Page

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2.3.9 Mode Page Window
The control Mode Page window enables selection of the required control mode by
clicking on the button. Selection of some control modes can also be made from the
joystick panel.
Control modes available for selection (thrusters, PME and sensors selected) are
shown with a blue background. The control mode currently selected is shown with a
yellow background. Unavailable modes are shown in grey.
Typical Mode Page Window

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The matrix control modes provide 5 axis buttons located at the bottom of the
window. Selecting a new mode causes the axis buttons to change state accordingly.
Conversely, changing an individual axis causes the mode buttons to reflect the new
mode.
For all sailing modes, Y-axis control is unavailable. However, the operator can still
make changes to Y-axis control to prepare for sailing mode deselection. A sailing
mode with Auto selected for the Y-axis causes the vessel’s speed to be determined
from the Track Follow page rather than the joystick.
The following modes cannot be selected using the matrix buttons:
• Minimum Power.
• ROV Follow.
Tracking with Matrix Control
In this mode, the [Track] button is ON but the [Sail] button is OFF.
When either [X] or [Y] changes from Manual to Auto a trackshift is introduced to put
the target under the vessel, providing the vessel is more than 5 metres off the track.
The tracking speed is initialised to the vessel’s speed along the track.
If the vessel is tracking with both the X and Y axes in Manual, the operator
determines the position of the vessel.
If the vessel is tracking with one axis in manual (X or Y) and the other axis in auto it is
assumed that the manual axis propels the vessel along the track.
With X-axis in manual and Y-axis in auto, X-axis is responsible for moving the vessel
along the track. This is satisfactory for reasonable angles of incidence to the track
but control deteriorates as the angle of incidence increases, reaching a stall at 90
degrees. A track angle alarm occurs for all angles of incidence between 80-100
degrees.
At angles of incidence to the track of 45 degrees, either X-axis or Y-axis in manual

works well. For lower angles of incidence, X-axis in manual should be used. For
higher angles of incidence Y-axis in manual should be used.

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DP with Matrix Control
In this mode both [Tracking] and [Sailing] are OFF.
X-axis and Y-axis are both set to manual in either JSMH or JSAH depending on the
N-axis setting. Setting the second axis to Auto puts the target under the vessel and
stores the old target as ‘previous position’ and the Change Position window.
Therefore, the old position can be regained if required.
Position moves can be made with one axis in manual and they follow the same rules
as Track Follow, i.e. the manual axis propels the vessel.
Mode Precharging (Preselection)
Mode precharging is provided so that one of the control modes can be selected
when switching from the vessel’s manual controls to the DP system. If none of the
modes have been precharged then the DP system defaults to Monitor mode when a
switch is made from manual to DP control.
Several modes can be setup for precharging by configuring the PMEs and sensors
(but not the thrusters) required for the particular mode. Modes which have been
configured and available for precharging are shown with a blue border around the
button. Clicking the mode button required for precharging changes the border to
yellow.

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2.3.10 Motion Display Page
The motion display page shows the position, heading and motion of the vessel, in
true or relative motion, with reference to a grid. Two versions of this page are
available: full screen (Motion Display page) and half screen (Summary Motion
Display page), selected by clicking the [Toggle Display] button. The Motion Display
page is the only page that can occupy the full screen (left and right areas). If the full
screen version is being displayed and a [Right] or [Left] page is selected, the motion
display is automatically switched to the summary display. Both motion displays have
identical facilities and differ only in size and position of the buttons.
Motion Display Page – Full Screen

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Motion Display Page - Summary
The north (N) arrow shows magnetic north. The angle between magnetic and grid
north is the ‘convergence’ angle which is dependent on the projection selected and
the vessel position within the projection. If the convergence angle exceeds 3o, or the
scale factor is above 1%, the motion display is considered inaccurate and replaced
with a projection warning message.
Double clicking the cursor at any point on the motion display centres the display on
that point. The following tables describe the symbols and layout of the Motion
Display page.

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Position Symbols
Facility Symbol Selection Method
Target Orange [Screen Options] button – on/off
Vessel Control Point Blue [Screen Options] button – on/off
Position Marker White [Screen Options] button – temporary

display
Heading Marker Dashed vessel outline [Screen Options] button – temporary

display
Destination Red Temporary display
Vessel
Vessel Outline Vessel shape [Screen Options] button – on/off
Vessel Size Scaled vessel/reduced [Screen Options] button

fixed
Vessel Trail Black line following [Screen Options] button – on/off

vessel
Track Display Black dotted line [Screen Options] button – on/off

(Auto Track)
ROV Trail Yellow dotted line [Screen Options] button – on/off

(ROV Follow)
True Motion Vessel moves in fixed Motion Display

grid
Relative Motion Vessel fixed at centre Motion Display

of display

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Velocity and Forces
Vessel Velocity Velocity and purple [Screen Options] button – on/off

arrow
Wind Velocity Velocity and magenta [Screen Options] button – on/off

arrow
Sea Force Sea force and [Screen Options] button – on/off

magenta arrow
Velocity Units m/s or knots or km/hr [Options] button on Mimic Index

window
PME
Position Error PME symbol in [PME Display] button

magenta
Position Fix PME symbol in yellow [PME Display] button
Median Check PME symbols [PME Median Check] button on

Mimic Index window
Grid
Grid Cartesian/polar lines [Screen Options] button – on/off
Cartesian/Polar [Screen Options] button
Grid Scale 5m to 100km squares Scale slider on Motion Display page
Note: The coordinate system, indicating vessel position, can be displayed as either a
geographical system (Lat/Long) or a grid based system, such as UTM. Coordinate
selection is made using the Options window on the Lat/Long Setup page.

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Alarms
Warning Watch Yellow circle [Screen Options] button – on/off

Circle
Alarm Watch Circle Red circle [Screen Options] button – on/off
Alarm Corridor Dashed red lines [Screen Options] button – on/off

(Auto Track)
Function Buttons
The eight function buttons on the Motion Display page are used to access windows to
control the vessel or alter the display:
1 [Change Position]
In most modes this button selects the Change Position window. In Auto Track and
Auto Sail modes this button selects the Tracking window.
Change Position Window
The Change Position window is used to make changes to the vessel position. The
change can be made using the marker or incrementally.

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The following buttons are available on the Change Position windows:
[Align Errors] – checks the performance of a suspect PME device. Clicking this button
makes each selected PME device error simultaneously equal to the average PME
value at that instant. On the Motion Display page this has the effect of briefly
superimposing all PME error symbols on top of each other before spreading out
again under the influence of their respective measured data. Consideration should
be given to deselecting a doubtful device.
[Marker Control/Increment Control] - toggles between the two methods of position

change:
Marker Control
[Previous Position] – shows the coordinates of the previous target position.
[Marked Position] – shows the coordinates of the marker position.
[Set Marker Position] – initiates a change of the marker position. When a

change in marker position is made, the marker symbol becomes the new
target or destination and the vessel moves towards this destination at the set
velocity.
[Northings and Eastings/Range and Bearing] – toggles between the two types
of coordinates. Eastings and Northings (metres) or Lat and Long (degrees) are
selected from the Mimic Index window.
Increment Control
[Set Increment] – sets the size of the variable increment of movement.
[X/Y and N/E] – toggles for direction of incremental movement.
[Target Position] – shows the coordinates of the present target position (x).
[Present Position] – shows the coordinates of the present control point (+).
[Acceleration Mult] and [Deceleration Mult] – used to adjust the set acceleration and
deceleration values by applying a multiplier of between 0.1 and 2.0. A value of 1.0
leaves the set value unchanged.
[Set Velocity] – sets the velocity at which the target moves towards the destination.
The velocity can be set by selecting the button and entering a numeric value or by
moving the slider arrow. The target is accelerated up to the set velocity and
decelerated as it approaches the destination.

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Tracking Window
The Tracking window has four tabs which provide access to secondary windows:
Summary, Move, Shift and Heading. Each tab has common buttons: Align Errors,
Track Speed and Track Movement which perform the same function as the respective
buttons on the Change Position window.
The [Summary] tab provides a summary of the status of the vessel during the tracking
mode. The Summary tab provides the following common buttons, which are also
available on the other tabs:
Tracking Window - Summary
[Align Errors] – averages the PME errors at the instant the button is clicked.
[Fast Stop] – stops the vessel at a higher deceleration rate.
[Stop] – stops the vessel.
[Continue] – continues tracking.
[Acceleration Mult/Deceleration Mult] – used to adjust the set acceleration and

deceleration values by applying a multiplier of between 0.1 and 2.0. A value
of 1.0 leaves the set value unchanged. The default values for the multipliers
(which are used unless the operator intervenes) are 1.0 for acceleration and
0.5 for deceleration. Thus, if a more rapid slowdown is required, e.g. in the
event of high cable tension, the value of the deceleration multiplier should be
increased.

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[Set Velocity] – sets the velocity at which the target moves towards the
destination. The velocity can be set by selecting the button and entering a
numeric value or by moving the slider arrow. The target is accelerated up to
the set velocity and decelerated as it approaches the destination. Note that if
the distance is short, the vessel may not reach the set velocity. On the upper
menu, the To Dest field becomes zero at the 3m point and shows a Radial
Error.
The [Move] tab provides the facilities for moving the vessel along the track in discrete
steps and for specifying the size of the steps. The Move tab provides the following
buttons in addition to the common buttons:
Tracking Window - Move
[Mult] – sets the deceleration rate between 0.5 and 4.0. A value of 2.0 sets the
deceleration at twice the normal rate.
[Move] – the upper right button sets the ‘inch’ increments up to ±2m, the
upper left button initiates the increment. The lower right button sets the move
steps up to 9999m, the lower left button initiates the move. A move can only
be initiated when the vessel has stopped. When a move is in progress the
button is grey. The [Stop] button can be used to stop the vessel but the move
will remain outstanding until completed.
[Wheel Over Point Limit] – specifies the distance before a waypoint (0 – 999m)
at which point an alarm can be raised. The alarm can be switched on/off as
required.

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The [Shift] tab enables the operator to shift the vessel by a defined amount from the
current track by a set increment. The shift can be controlled in distance, speed and
acceleration. The Shift tab provides the following buttons in addition to the common
buttons:
Tracking Window - Shift
[N/S/E/W] – moves the vessel by the set increment in the chosen direction.
[Tr Left/Tr Right] – shifts the vessel by the set increment to the left or right of the
track.
[Zero Shift] – resets the track shift to zero (original track).
[Present Shift] – displays the track shift so far completed. Clicking on the
button makes the present position the target position, thus stopping the vessel
shifting any further.
[Target Shift] – the distance the target has been shifted by the operator.
[Increment] – sets increment size.
[Shift Accel Mult] – sets the acceleration of the vessel up to the shift speed,
between 0.1 and 2.0. A value of 1.0 set no acceleration.
[Max Speed Shift] – sets the maximum speed shift.

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The [Heading] tab provides information on the vessel heading. The Heading tab
incorporates the common buttons together with the following fields:
Tracking Window - Heading
Vessel Heading – the vessel’s current heading.
Set Heading – the vessel’s set (target) heading.
Track Course – heading of the current segment, or tangent to arc where the
control point currently is (orange cross).
Offset to Track – difference between the set heading and the heading of the
current track segment. This will always be zero if Follow Track Course is
selected.

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2 [Change Heading]
Selects the Heading Change window which is used to make changes to the vessel
heading whilst in one of the automatic heading control modes.
The following buttons are available on the Change Heading windows:
[Marker Control/Increment Control] - toggles between the two methods of position

change.
Marker Control
[Marked Heading] – shows the heading of the marker.
[Set Marker Heading] – initiates a change of the marker heading.
[Set Heading Velocity] – sets the velocity that the vessel rotates towards the
Marked Heading. The velocity can be set by selecting the button and entering a
numeric value or by moving the slider arrow.
Increment Control
[Set Increment] – sets the size of the variable increment of movement.
[Set Hdng Velocity] – sets the velocity at which the target moves towards the
destination. The velocity can be set by selecting the button and entering a numeric
value or by moving the slider arrow. The target is accelerated up to the set velocity
and decelerated as it approaches the destination.
3 [Toggle Display]
Toggles between the full page and half page motion displays.

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4 [Alarm Settings]
Displays the Position Page Alarm

Values window. This is used to set the
limits on vessel excursions from the
target or set heading, which if
exceeded will sound an alarm. Three
position/heading alarm limits can be
set:
• Position Alarm Radius (Alarm Watch Circle) – This can be set up to 99m and is
shown as a red circle on the Motion Display page. The circle is centred on the
target in true motion and on the control point in relative motion.
• Position Warning Radius (Alarm Warning Circle) – This can be set up to 99m
and is shown as a yellow circle on the Motion Display page. The circle is
centred on the target in true motion and on the control point in relative motion.
The warning circle should always be positioned inside the alarm circle.
• Heading Alarm Limit – This can be set up to 90o.
5 [Screen Options]
Displays the Screen Options window.

This enables the motion display to be
customised to suit the operator. Some
choices apply to all control modes
whilst others apply only to specific
control modes:
[Grid Display] – shows a grid.
[Cartesian Grid] – toggles between a Cartesian and polar grid.
[Watch Circles] – shows the warning/alarm circles/corridors.
[Vessel Trail] – shows the trail the vessel has followed.
[Vessel Outline] – shows the vessel outline.
[Fixed Vessel] – toggles between a dotted outline of a fixed size vessel and solid
line vessel outline proportional to the display scale.
[Marker Display] – shows the position and heading markers.
[ROV Trail] – shows the trail the ROV follows.
[Vessel Velocity] – shows the vessel velocity and direction.
[Wind Display] – shows the wind velocity and direction.
[Sea Force Display] – shows the estimated sea force (in tonnes) and direction.

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[Target Display] – shows the target.
[Control Point] – shows the control point.
[Track Display] – shows the selected track in Auto Track.
6 [Centre Target]
An option in True Motion which moves the target to the centre of the display.
7 [True Motion]/[Relative Motion]
Toggles the display of the vessel between true motion and the motion relative to
north.
• In true motion the north (N) arrow point to magnetic north and the vessel
moves about the display. Double clicking on any point on the grid makes that
point the centre of the display.
• In relative motion the vessel outline is shown with its control point fixed at the
centre of the grid. All movements are shown relative to the fixed vessel. The
north (N) arrow rotates as the heading changes.
8 [PME Display]
Displays the PME Display Options

window which enables selection of
which PMEs are shown on the
display. Each displayed PME can be
shown as PME Errors and/or PME
Positions. PME Errors displays the
PME icon at the position on the grid where the PME calculates the vessel control point
to be. PME Positions displays the actual position of the PME device such as acoustic
transponder or CyScan unit. PME devices such as DGPS cannot be displayed.

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2.3.11 PME Data Page
The PME Data page displays Position Fixes and Position Errors from each selected
PME device.
PME Data Page
Position Fix of the vessel is defined as:
• The absolute easting and northings coordinates of the vessel’s centre point, as
measured by the DGPS.
• The seabed distance of the Sonardyne transponders from the vessel’s centre
point measured in fore/aft coordinates converted to northings and eastings, or
the absolute position of the vessel centre measured by the acoustic system.
Position Error is the difference between its fix and the control point. The position
error of the vessel is defined as the distance between the target position and the
control point. All errors are measured in vessel coordinates (metres).

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Nine PME channels are available, with the current

allocation shown by the selection buttons on the
upper half (Position Fixes) of the PME Data page. The
order of display, aerial offsets and frequency settings
are setup using this page. Clicking a PME device
button opens the PME Selection Option windows
which allows selection of the required device.
When a PME device with associated antenna is

selected, a corresponding Aerial Offset window is
opened. For GPS the aerial offsets window enables
aerial offsets to be changed and GPS or DGPS to be
selected. For CyScan the aerial offsets window
enables aerial offsets to be changed and
static/mobile to be selected.
When an acoustics transponder button is selected, a Sonardyne Ops window is

opened which enables the frequency channel to be selected, via the numeric keypad,
which must correspond to the deployed transponder.

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2.3.12 PME Median Check Page
The PME Median Check page enables the PME signals to be checked against a
preset Rejection Limit. If three or more PME devices are selected then it is possible to
use only those which are within the rejection limit. The median check finds the
median value of three or more PME devices in the X-axis and Y-axis and calculates
the average position value for use by the control system. Any devices which falls
outside the rejection limit are discarded and not used in the calculation of the
average position value. Only one healthy device can be discarded in any one check.
So, if two or more devices fall outside the rejection limit at once, not all will be
rejected.
PME Median Check Page
Clicking the [Rejection Limit] button enables the rejection limit (down to 2m) to be
entered via the numeric keypad. The rejection limit is then displayed as a square box
on the centre of the page.
The operator has the option to display any or all of the PME devices. PMEs are
selected by clicking on the required icon. The Scale (m) slider enables the scale of
the page to be set so as to display the rejection limit box and PMEs comfortably.

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2.3.13 PME Weightings Page
The PME Weightings page can be used to set a bias towards preferred PME devices.
PME Weightings Page
Each PME is given a weighting value from 1 to 10, where 1 is the lightest and 10 the
heaviest weighting. The weighting can be selected either manually or automatically
by means of the toggle [Manual]/[Auto] buttons at the top of the page.
Manual weightings are entered by clicking the button adjacent to the PME device and
entering a value from 1 to 10 via the numeric keypad.
The automatic entry is based on the Position Fix Repeatability for each PME.
The percentage weighting is calculated for each selected PME device, based on the
weighting value compared to the sum of the weighting values for selected PMEs.

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The Window column [Scale]/[Size] button can be toggled to show either a scale
factor or the size of the rejection window for each PME device. The rejection window
size can be set individually for each PME by clicking the appropriate Window button
and entering a scale factor in the range 1 to 10 via the numeric keypad. The
rejection window provides the first level of checks applied to the position fixes
received from the PME systems. The current position fix is compared to the model
predicted position fix and is accepted if the difference is less than that specified in the
rejection window.
The size of the rejection window is a product of the Kalman Gain distance and the
scale factor. The Kalman Gain distance in metres corresponds to the Kalman Gain
set in the Gain Selection window.
Kalman Gain Distance in Metres

0 8
1 16
2 32
3 64
4 128
5 256
For example, if the Kalman Gain is set to 2 and the scale factor to 3 then the
rejection window is 32 x 3 = 96 metres.

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2.3.14 Position Fix Repeatability Page
The Position Fix Repeatability page gives an indication of how good or bad the
position data is for a particular PME device in bar-chart form. As a general rule, the
smaller the bar the better the position fix quality is for the device. The size of the bar
is based on the standard deviation of the position fixes over a 5 minute period. The
red bar is the present measure of data quality and the yellow bar is the previous
measure of data quality. The data is updated every 60 fixes received. This data is
also shown below the symbol on the Sensor and PME bar.
This page can be used as a quick guide to:
• PME performance prior to selecting for use with the DP system (in the case of
good performance).
• PME performance prior to deselecting (in the case of poor performance).
Position Fix Repeatability Page

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2.3.15 Power Mimic Page
The power mimic page displays the online/offline status of the busbars, circuit
breakers, generators (G) and thruster motors (T).
Typical Power Mimic Page

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Clicking on the box surrounding a generator opens the Bus Section Power window
which displays power conditions for the bus section to which the generator is
connected:
Power Available – total power available

from online generators.
Power Used – total power used by the
thrusters.
Spinning Reserve – the difference between
power available and power used.
Critical Margin – level of spinning reserve
that prompts an alarm.

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2.3.16 Power Trends Page
The Power Trends page shows the power trends available for each busbar. If a
single bus is in operation then only one trend is displayed. The power trends have
the same format as the Trends page.
Power Trends Page
The power warning alarm level can

be set by clicking the [Alarm Setting]
button and entering a value in the Set
Power Alarm Value window using the
numeric keypad.
The alarm level is set as a percentage of the total Power Available. This has the
effect of moving the Alarm Setting line to the required level.

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2.3.17 Sensor Data Page
The Sensor Data page displays the readings from the gyrocompass, anemometer
and vertical reference unit. For the DP system to operate correctly the correct vessel
draft must be set. This is achieved by clicking the [Draft] button and entering the
correct value via the numeric keypad. The value is checked for range between a
maximum and minimum value.
Sensor Data Page

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2.3.18 Serial Link Monitor Page
The Serial Link Monitor page represents a software datascope, which can monitor
the data from any one of the 16 serial ports on the terminal servers in the DP
console processor rack.
Serial Link Monitor Page

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A port is selected by clicking the [Monitoring on Port n] button, to

display a list of the devices available, and then clicking on the
required port.
The screen can be cleared by clicking the [Clear] button.
The received data can be displayed in HEX (hexadecimal) or ASCII

(American Standard Code for Information Interchange). Other
parameters relating to the serial link, such as baud rate, are
displayed at the top of the page.

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2.3.19 Simulation Page
The Simulation page provides an offline training facility. In simulation, inputs and
outputs are processed by the DP system provided no thrusters are under DP system
control
There are two pages associated with simulation:
• Simulation.
• Simulation Data.
Simulation
There are two versions of the Simulation page: setup and run.
The setup page is selected before Simulation mode is selected and allows a Ship
Initial Position to be entered if required.
Simulation Page – Setup

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When Simulation mode is selected the simulation run page is displayed and the Ship
Initial Position field changes to Ship Position.
Simulation Page - Run
The PME fields at the top of the page allows the simulation PMEs to be selected and
deployed or recovered.
The environmental field enables [Wind], [Current] or [Wave] to be selected. The

simulated wind/current speed can be varied in 0.5m/s steps using the [+] and [-]
buttons below the speed indicator. The wave height can be varied in 0.1m steps
using the [+] and [-] buttons. The heading can be varied in 5o steps using the [+]
and [-] buttons under the heading indicator.
The central specific vessel facilities field displays facilities which are specific to the
vessel’s role, i.e. ROV control, shuttle tanker/field type, cable laying etc.

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Simulation Data
The Simulation Data page has six tabs which allow various simulated vessel
equipment to be monitored/selected.
The Pmes tab shows all the PMEs associated with the vessel.
The Sensors tab shows all the sensors

associated with the vessel.

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2.3.20 Thruster Selection Window
The Thruster Selection window enables selection/deselection of individual thrusters,

all thrusters or a thruster pattern.
Thruster Selection Window
Buttons at the bottom of the window enable thruster patterns using the propellers
and rudders, to be selected, which may include some or all of the following:
[Bias/No Bias]
Thrusters are placed in opposition to each other and usually applies to azimuth
thrusters.
[Fixed Rudder Angles 1-3]
The rudders can be set at a preset inboard angle. This provides adjustment to the
stern for weathervaning in light weather. Three axes of control are provided by
adjusting the main engine forces. Both propellers are allowed to operate ahead or
astern to achieve the required combination of side thrust and surge thrust. If a
rudder becomes unavailable it is assumed that it remains at a fixed angle and the
thrusts will continue to be achieved. In this event an alarm is raised and the operator
can change to a push pull mode.

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[Prop Rud Free]
The DP system is free to use the main propellers and rudders in any of the pattern
modes: ‘no push pull, ‘port ahead’ and ‘stbd ahead’, and to change the pattern
mode being used as requirements change.
[No Push Pull]
This mode is for heavy weather and both propellers are run as a pair, normally
ahead, but if necessary they can be run astern. However, when running astern the
rudders have no effect and only 2-axis control is achieved.
[Port Ahead]/[Stbd Ahead]
These are push pull modes which provide side thrust using the propellers and
rudders. This pattern is used in light weather to reduce frequent rudder movement.
Port ahead or stbd ahead is selected depending upon the direction of the weather.
In these patterns one propeller runs ahead and uses its rudder to generate side
thrust. If only side thrust is required the other propeller runs astern to counteract the
ahead thrust. If port ahead is selected and the port rudder becomes unavailable or
deselected then the mode should be changed to stbd ahead.
Thruster Patterns

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2.3.21 Thrust Vectors Page
The Thrust Vectors page displays the thrust in tonnes and direction vector information
for each selected thruster. The thrust provided by the rudders is shown as a single
thrust aft of the vessel. The total thrust magnitude and turning moment vectors
(demand vectors) are also displayed. Selection of the thruster pattern is carried out
as for the Thruster Selection window.
Each thrust vector arrow is coloured to indicate the percentage of maximum thrust
being delivered:
Green – 0 to 60%
Yellow – 61 to 80%
Red – 81 to 100%
Thrust Vectors Page

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The [Alarm Settings] button is used to open the Set Vector Alarm Conditions window
to set a % thrust as an alarm limit on any thruster.
The [Reduced Joystick] button performs the same action as the ½ power button on
the joystick panel.

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2.3.22 Thruster Demands Page
The Thruster Demands page provides an overview of the thruster demands made by
the DP system. When a thruster is under DP control it has a yellow background. The
thruster values are shown in green up 60%, yellow up to 80% and red above 80%.
Thruster Demands Page

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2.3.23 Thruster Feedbacks Page
The Thruster Feedbacks page provides a comparison of the demands and feedbacks
of the thrusters in terms of pitch, speed and azimuth. A reduced format of the
Thruster Feedbacks is also displayed below the thruster in the bottom left hand of the
display. The area between demand and feedback is shaded green if it is below 10%
speed or azimuth and red if above.
A reduced format of the Thruster Feedbacks page, in terms of thrust and rudder
angle only, is also displayed on the Thruster Display page.
Thruster Feedbacks Page

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2.3.24 Track Follow Page
Track Follow is performed in Auto Track and Auto Sail modes by following a series of
waypoints. The waypoints define the movement of the target which the vessel then
attempts to follow. The Track Follow page provides the operator with the facility to
setup and control a track.
Track Follow Page
A track consists of segments between waypoints. A segment is defined as the

waypoint number at the end of the leg. A segment can be a straight line, a
clockwise arc or an anticlockwise arc. The radius of an arc must be greater that half
the distance between waypoints, otherwise a flashing line appears on the screen.
The upper part of this page lists the current waypoints whilst the lower part provides
the tracking control facilities.
The upper part of the Track Follow page contains the following waypoint fields:
[Way Point] – This contains the reference number loaded from disk (0-200) or link
(0-9999). The number cannot be altered by clicking on the field.
[Segment Type – clicking this button selects Line/Arc-C (clockwise) or Line/Arc-A

(anticlockwise).

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[Segment Name – (optional) clicking this button allows a 20 character description to

be entered via the alphanumeric keypad.
[Speed] – shows the speed along the track between waypoints. The speed to each
waypoint can be set by using the [Preset WP Velocity] button on the lower part of the
page and entering a value via the numeric keypad or by moving the slider.
[Position] – clicking this button allows the coordinates of the waypoints to be entered
directly or using the marker on the Motion Display page. Coordinates can be in
Lat/Long or UTMs as selected by the [Options] button on the Mimic Index page.
[Heading o] – shows the set heading in degrees as the vessel sails towards the next
waypoint. The heading can be set as an absolute (Abs) or incremental (Inc) change.
[Radius m] – shows the radius of the arc for Arc-C and Arc-A waypoints.
The lower part of the Track Follow page contains the following buttons:
[Next WP x] – displays the number of the next waypoint.
[Heading – x] – opens the Heading Mode window to select one of the three heading
options: Follow WP Presets, Follow Course or No Auto Change.
Follow WP Presets – the heading can be set at each waypoint as part of the
segment definition. For segments that define a straight line the heading can
be changed by an incremental or absolute value. For segments that define an
arc the heading can only be changed by an incremental value.
Follow Course – the vessel’s heading is incremented by the track heading

change, i.e. if the vessel enters the track with a 10o difference (shift) to the track
heading this difference will be maintained throughout the track follow, unless a
heading adjustment is made by the operator.
No Auto Change – constant heading while traversing the track, unless a

heading adjustment is made by the operator.

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[Fast Stop] – used to initiate a fast stop.
[Forwards/Backwards] – used to select the direction of movement.
[x WP Velocity] – used to set the vessel velocity as a preset value or slider value.
[To Waypoint/Intro Shift] – toggles between two states. To Waypoint selects the
original track or introduce a track shift.
[Tracking/Not Tracking] – Tracking indicates that the vessel is tracking. Clicking the
button stops the vessel and as soon as the vessel stops, Not Tracking is indicated.
[Continuous/Stop at Waypoints/Step Move] – opens the

Tracking Mode window to select the motion along the
track. Continuous – the vessel moves continuously
through the waypoints. Stop at Waypoints – the vessel
stops at each waypoint. Step Move – the vessel can be
advanced a predefined distance along the track.
[Grid/Geodetic/Rhumb] – opens the Track Type window to

select the track type to be displayed as set by the [Change
Position] button on the Motion Display page. Grid – straight
line on the projection. Geodetic – great circle. Rhumb – line
of constant bearing. Over short distances they all appear
straight.

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[WP Control] – this button opens the Track Waypoint Control Options window which
provides the means of controlling waypoints and arcs, together with loading and
saving waypoint data.
[Clear All Waypoints] – clears all waypoints.
[Add Waypoints] – click to add a waypoint to the bottom of the list.
[Insert Before] – inserts a waypoint before an existing one, selected on the

Track Follow page.
[Delete] – deletes a selected waypoint on the Track Follow page.
[Put Tangential Arc at] – adds a tangential arc of an operator defined radius
between two lines, adding a new waypoint between the two lines on the Track
Follow page.
[Delete and Meet] – removes a tangential arc and replaces the original line
segment.
[Load Waypoints from Disk] – loads previously calculated waypoints from a

laptop via the Ethernet hub.
[Save Waypoints from Disk] – saves manually input and altered waypoints to a
laptop via the Ethernet hub.
[Load Waypoints from Link] – automatic waypoint loading from a data link.

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2.3.25 Trends Page
The real time Trends page shows, in graphical form, the performance of three trends
from the range of selectable DP variables.
Trends Page
Each variable can be viewed over a time scale of either 8 minutes or 64 minutes.
The 8 minute time scale displays values every second. The 64 minute time scale
displays the average value over 8 seconds (short peaks may therefore not be
displayed).
Approximately 8 hours of previous figures can be viewed by moving back through

the display. Data older than 8 hours is overwritten. With the time scale set to 8
minutes, only 1 hour of previous data is viewable and two minute time markers are
displayed. When the time scale is set to 64 minutes, the time markers are set to 16
minutes.
Previous time segments can be viewed by clicking the [<] button, if shown. To move
forward in time segments click the [>] button. To move to the present time click the
[>>] button.

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The scale of the vertical axis can be halved or doubled by clicking the [x½] or [x2]
button respectively. The display can be ‘centred’ vertically up or down on one of the
x-axis values (e.g. 4, 8) by clicking on the required value. Clicking in the area
anywhere left of the y-axis returns the zero point to the centre of the display.
Clicking on a [Save] button saves all variables to disk. The [Save 8M] button saves
the last hours variables at one second intervals. The [Save 64M] button saves the
last 8 hours variables in 8 second intervals. The data is saved in an ALSTOM format
on the allocated PC connected to the Ethernet network.
Clicking the [Variable] button opens a Variable

Selection window for the top, middle or lower trend,
which lists those variables available for selection. The
currently selected variable for a trend is highlighted.

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3. CONTROL MODES
The different types of DP vessel control are called control modes which are described
briefly in this section. To operate the vessel in a particular control mode requires
specific inputs (sensors and PME) and specific thruster combinations to be selected, if
available, before the control mode is permitted to be selected.
Sensor, PME, thruster and mode selection is made from the active DP console.
The control modes provided by the DP system are:
• Monitor
• Joystick
• Joystick Manual Heading (JSMH)

• Joystick Auto Heading (JSAH)
• Hand Pilot
• Follow a defined target
• Dynamic Positioning (DP)

• Minimum Power
• Remotely Operated Vehicle (ROV) Follow
• Ship Follow
• Follow a defined track
• Auto Track
• Maintain a defined speed
• Auto Speed
• Auto Sail
• Simulation
3.1 MONITOR
This is the default mode when no thrusters are selected by the DP system.

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3.2 JOYSTICK MANUAL HEADING (JSMH)
In JSMH mode the joystick is used to control vessel movement fore/aft/port/stbd and
the heading control knob to control the vessel’s rotation about its centre of rotation
(COR). Each axis, surge(X)/sway(Y)/yaw(N), can be controlled independently or as a
combination.
Joystick movement controls the thrust on the vessel in the fore/aft and port/starboard
directions, using the selected thrusters. The thrust can either move the vessel or hold
it stationary against the environmental conditions. The further the joystick is pushed
the greater the thrust produced on the vessel. When the joystick is pushed fully over,
the vessel has maximum available thrust in that direction. Power provided by the
joystick can be full or ½ power as selected by the [Joystick Power] button.
The Heading Control Knob rotates the vessel about its centre of rotation, using the
selected thrusters. The more the knob is turned the greater the moment of thrust. To
obtain the maximum available turning moment the knob is rotated to its 100% mark
clockwise or counter clockwise.
On some vessels, thruster patterns can be selected to give a particular thrust.
Moving Vessel from A to B

under Joystick and
Turning Knob Control
JSMH Mode

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3.3 JOYSTICK AUTO HEADING (JSAH)
In JSAH mode, joystick movement controls vessel fore/aft/port/stbd whilst the

heading is automatically controlled about its centre of rotation (COR) by the
gyrocompass(es).
The DP system attempts to maintain the heading at the moment JSAH mode is
selected. However, heading changes can by made by the operator after JSAH is
selected by means of the Motion Display page buttons.
Joystick movement controls the thrust on the vessel in the fore/aft and port/starboard
directions, using the selected thrusters. The thrust can either move the vessel or hold
it stationary against the environmental conditions. The further the joystick is pushed
the greater the thrust produced on the vessel. When the joystick is pushed fully over
the vessel has maximum available thrust in that direction. Power provided by the
joystick can be full or ½ power as selected by the [Joystick Power] button.
The vessel’s responsiveness to alterations in heading caused by environmental

conditions can be adjusted using the heading gain control scale in the Gain Control
window.
Moving Vessel from A to B

Under Joystick Control
with Constant Heading
JSAH Mode

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3.4 DYNAMIC POSITIONING (DP)
The DP mode provides automatic control of the vessel in all three axes,
surge(X)/sway(Y)/yaw(N). DP mode can only be selected if sufficient thrusters have
been selected to produce a turning moment about its COR and fore/aft thrust and
port/stbd thrust. At least one gyrocompass and one position measurement
equipment (PME) device must also be selected.
The DP system attempts to maintain the heading and position at the moment that DP
mode is selected. However, heading and position changes can by made by the
operator after DP is selected by means of the Motion Display page buttons.
The transition to DP mode is smoothest if the vessel is first brought stationary using
JSMH/JSAM mode, with gyrocompass(es) and PMEs selected. If the gyrocompass(es)
or PMEs are selected immediately prior to selecting DP mode the control system will
not have had time to learn about the vessel motion and environment. A minimum of
2 minutes should be allowed for the learning to take place.
Fixed
Position
Fixed
Heading
DP Mode

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3.4.1 Anchor Moored Vessels
Anchor mooring is not a separate control mode, it is used with one of the ‘stationary’
control modes.
It is assumed that the anchor lines will be used to assist the thrusters in opposing the
environmental forces. Hence, the operator may decide to deploy the anchors when
the weather increases, and so an introduction of anchor tension measurements into
the DP control system should be a smooth transition in any control mode.
If a vessel has two or more anchors, then tension measurements from these anchors
may be used as feed forward signals for the DP system control. If the operator
selects the anchors, then anchor tension feedforward will be used in the appropriate
control mode.
Each tension measurement is resolved into surge and sway forces and yaw turning
moment. These components are calculated from the tension measurement using the
anchor line setup data entered by the operator using the various anchor pages.
NET
ENVIRONMENTAL
FORCE
Anchor Moored Vessel

HOME
3.5 MINIMUM POWER
In this mode the vessel maintains position as in DP mode but the vessel’s heading is rotated
into the net environment (weather+current+tide), to reduce the total power requirements on
the thrusters.
NET WEATHER
Variable Heading
Fixed Position
Minimum Power Mode

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3.6 REMOTELY OPERATED VEHICLE (ROV) FOLLOW
This mode maintains the vessel position relative to a moving remotely operated
vehicle (ROV), with automatic heading control. Two types of ROV mode are
available:
• Fixed distance.
• Fixed position reference.
ROV
Fixed Position Reference Fixed Distance
ROV Follow Mode
If the selected position measuring equipment (PME) is the ROV hydro acoustic
beacon then the fixed distance mode is used. In fixed distance mode the vessel’s
COR and the ROV’s transponders/responders are maintained at a fixed distance.
If at least one other PME device is selected, as well as the ROV hydro acoustic
beacon, then the fixed position reference mode is used. In this mode the vessel is
maintained in a fixed position whilst the ROV is allowed to move within a ‘reaction
radius’. If the ROV moves outside its reaction radius the vessel COR follows the ROV
and the reaction radius is repositioned. This minimises thruster activity.

HOME
3.7 SHIP FOLLOW
This mode is for vessels operating alongside moving structures/vessels. For this
mode to function the vessel must be fitted with a laser system (e.g. CyScan). The
Ship Follow mode and laser system allow the DP system to automatically track the
relative position and heading of the target structure/vessel.
DP Vessel
Target Vessel
Fixed Distance and True Heading
DP Vessel
Target Vessel
Fixed Distance and Optional Fixed Relative Heading
Ship Follow – Fixed Distance

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A second PME can be added to allow a reaction circle (radius set by the operator) to
be placed around the target vessel’s reference point. If the target vessel moves
outside this circle the DP vessel will automatically move. Similarly, if the relative
heading changes by more than a preset limit then the DP vessel will automatically
change heading. In this mode the operator can still change the DP vessel position
and heading relative to the moving structure.
DP Vessel
Repositioned Reaction Radius
Initial Position Target Vessel
Fixed Position - True Heading
DP Vessel
Target Vessel
Fixed Position - Optional Fixed Relative Heading
Ship Follow – Fixed Position

HOME
3.8 AUTO TRACK
Auto track is typically used for cable laying. The vessel follows a pre-programmed
route using tunnel thrusters. However, use of tunnel thrusters limits the speed at
which the vessel can progress. For a tunnel thruster to provide a turning moment on
the vessel, water must enter the tunnel where the thruster is located. At speed
greater than 6 knots water cannot enter the tunnel, rendering the thrusters
ineffective.
Auto Track moves the vessel along a track between two or more predefined points
(waypoints) on a set heading at slow speed. The waypoints (up to 200), vessel speed
and heading may be entered by the operator, from a disc or via a serial data link.
The DP system generates a target which moves between the waypoints and the vessel
follows this moving target. The target movement between each waypoint is
calculated as course, speed and heading.
In Auto Track the vessel follows a moving target. The movement of the target is
setup in Track Follow. The progression of the vessel through the waypoints is
controlled by the operator using Track Follow. The thrusters control the vessel’s
progression through the waypoints using signals from the radio PME and the
gyrocompass.
The velocity setpoint is fed to the controller which produces the feed forward force.
The calculated feed forward force accelerates/decelerates the vessel to the setpoint
velocity, and maintains it at the setpoint speed. On the Motion Display page the
target is set by the drawing of a perpendicular line from the vessel to the track, thus
the target is seen to move with the vessel.

HOME
The progression of the vessel through the waypoints can be adjusted, if required, by
the operator using the [Position Change] button on the Motion Display page. In Auto
Track (and Auto Sail) mode a position change is a track shift. The shifted track is
shown on the Motion Display page as a dotted black line and the current track
segment is purple. The alarm corridor shifts with the track.
Waypoints
5
4
3
PME (DGPS) Gyrocompass
Auto Track Mode

HOME
3.9 SIMULATION
This mode enables operators to obtain training and familiarisation with the DP
system. Simulation mode can be entered from the DP console only when the
thrusters are not under DP system control.
Control modes, sensors, PME devices and thrusters can be selected and the wind
speed and direction varied. The DP system will behave as if it is controlling the
vessel at sea.

HOME
3.10 MODEL CONTROL
Model control is a mode that is automatically entered if there is a failure of all the
vessel’s reference systems (sensors and PME). The model continually monitors and
stores data from the sensors, PME and thrusters. Model control allows the vessel to
be controlled for a period of time using the data stored at the time of failure.
Eventually the vessel will drift off course due to prevailing weather conditions.
Model control will allow the vessel to be brought under manual control in a safe and
orderly manner.

HOME
4. TECHNICAL DATA
4.1 PROJECT SUMMARY
Customer Name Labroy Marine

Project Name AHTS New Builds T133
Vessel Name Seabulk Luanda
Vessel Owner Seabulk Offshore
Vessel Function AHTS
Operating Area TBA
Classification Bureau Veritas : AM/AT
Control System ADP11 Simplex Dynamic Positioning System
with AJS01 Independent Joystick
4.2 ALSTOM SCOPE OF SUPPLY
Equipment No Off Location

ADP11 DP Console 1 Bridge, floor standing, starboard facing
Isolation Transformer 1 Deck Floor Mounting
UPS Module 1.7 kVA 1 Near UPS
Thruster Outstations 5 Next to respective control cabinets
VRU 2
Anemometer 2 Mast
Alarm & Event Printer 1 Bridge
Laptop PC 1 Portable unit
DGPS 2 Mast and Bridge
Portable Joystick 1
AJS Controller Cabinet 1
AMC Wago I/O System 1
Gyrocompasses 1 Bridge
4.3 SENSORS
Device No off Manufacturer/Type Interface/Protocol

Vertical 2 Watson VRU-LTD 2003 RS232 Serial link
Reference Unit 1200-8-N2
Anemometer 2 Gill Wind Observer II

HOME
Gyrocompass 1 Anschutz Standard 22 RS485 serial link

NMEA 0184 version
2 HDT
4.4 PME
Device No off Manufacturer/Type Interface/Protocol
Differential 2 Trimble DSM 132L RS485 serial link

GPS 9600-8-N-1
NMEA 0183 GGA
format
CyScan 1 RS485 serial link
9600-8-N-1
NMEA 0183 telegram
every second (1Hz)
containing positional
information
4.5 THRUSTERS
4.5.1 Outstations
Device No off Manufacturer/Type

Wago I/O 1 Wago
4.5.2 Locations
With respect to centre of gravity, located between frames 49 and 50 on the centre
line.
Thruster X(+=Fwd) Y(+=Stbd)

T1: Forward bow tunnel thruster 23.30 m 0
T2: Aft bow tunnel thruster 20.94 m 0
T3: Stern tunnel thruster -24.30 m 0
T4: Stbd Propeller -27.00 m 2m
T5: Port Propeller -27.00 m -2 m

HOME
4.6 CENTRES OF ROTATION
COR X (Fwd) Y (Stbd)

1 TBA TBA Vessel bow
2 TBA TBA Vessel stern
3 TBA TBA TBA
4.7 VESSEL PARAMETERS
Length o.a. 65.80 m

Length LPP 58.30 m
Beam 15.00 m
Maximum Draft Displacement
Light Draft Displacement
Operational Draft Displacement

HOME
4.8 IJS SERIAL LINKS
TERMINAL UNIT A
Software Function Comments
Port
CDAa1 Gyro Compass 1 HDT Format

CDAa3 Spare
CDAa4 Spare
CDAa5 Spare
CDAa6 Spare
CDAa7 Spare
CDAa8 Spare

HOME
4.9 DP SERIAL LINKS
TERMINAL UNIT A
Port

CDAa2 VRU 1 TSS1 Format
CDAa3 Anemometer 1 MWV Format
CDAa4 DGPS1 GLL or GGA Format

CDAa5 Cyscan 1 Alstom propriety interface
CDAa6 Spare
CDAa7 Alarm printer ASCII
CDAa8 Operator Panel SIF-P interface, address 0
TERMINAL UNIT B
Port
CDAb1 Gyro Compass 2 HDT Format

CDAb2 VRU 2 TSS1 Format
CDAb3 Anemometer 2 MWV Format
CDAb4 Spare
CDAb5 Portable Joystick Docking
Station 1
Station 2
Station 3
CDAb8 Spare

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A-Series Dynamic Positioning System
INDEX
Setup .............................................. 43
A
E
Acceleration
Multiplier ...................................64, 65 Environmental Force Fast Learn Page .... 47
Shift Multiplier..................................67 Kalman Filter ................................... 47
Additional Data ....................................31 Options........................................... 48
Control Buttons ................................31 Equipment Rack ................................... 21
Joystick Summary Display .................31
Alarm Acknowledge..............................17 G
Alarm Page ..........................................35 Gain Selections Window ....................... 49
Accept Alarms..................................35 Auto Pilot and Auto Sail Modes ......... 50
JSAH, DP and Auto Track Modes ...... 49
C
Kalman Gain Levels ......................... 49
Capability Plot Page..............................36 Graphics and Lamp Dimmers ............... 17
Examine and Dispay Results..............40
Setup and Perform Calculations ........37 H
Centre of Rotation (COR) Selection Heading and Position LCD Display........ 17
Window ...............................................41
Control Mode Selection.........................16 J
Control Modes ...................................101
Anchor Moored Vessels ..................105 Joystick Panel ....................................... 15
Auto Track .....................................110
DP.................................................104 L
JSAH .............................................103 Lat/Long Setup Page ............................ 51
JSMH ............................................102 Geodetics in Use.............................. 53
Minimum Power .............................106 Projections....................................... 53
Model Control ...............................113 Vessel Position Coordinates .............. 51
Monitor .........................................101 LCD Monitor ........................................ 20
ROV ..............................................107 Display Controls .............................. 20
Ship Follow ....................................108 Monitor Controls.............................. 21
Simulation .....................................112 Left and Right Selection Keypads ........... 13
Lower Menu ......................................... 32
D
DP Console ......................................6, 11 M
DP System Description ............................7 Main Display Screen ............................. 22
Actual Thrusters .................................8 Buttons ............................................ 24
Kalman Filter .....................................8 Confirmation Window ...................... 25
Kalman Gains....................................8 Display Conventions ........................ 22
Measurement of Origin ......................9 Keypad Window .............................. 24
Model Ship ....................................8, 9 Mimic Pages and Windows............... 22
Pool ..................................................8 Pop-up Windows.............................. 23
Rejection Criteria................................9 Range Scale..................................... 25
State Gains ........................................8 Manual Position Control ....................... 16
Thruster Allocation .............................8 Mimic Pages and Windows ................... 33
Thruster Models .................................8 Mobile PME Data Page ......................... 55
Drift Off Calculation Page.....................42 Mode Page Window ............................. 56
Drift Off Screen Options Window ......43 DP with Matrix Control ..................... 58
Results .............................................46 Matrix Modes................................... 57
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Mode Precharging (Preselection) .......58 Sensor Data Page................................. 81

Sailing Modes ..................................57 Serial Link Monitor Page ....................... 82
Tracking with Matrix Control .............57 Links Available................................. 83
Motion Display Page.............................59 Simulation Data Page
Alarm Setting Button.........................70 Links ............................................... 87
Alarms.............................................63 Misc ................................................ 88
Centre Target Button ........................71 PMEs ............................................... 86
Change Heading Window ................69 Power.............................................. 88
Change Position Button ....................63 Sensors ........................................... 86
Change Position Window..................63 Simulation Data............................... 86
Full Screen.......................................59 Thrusters ......................................... 87
Function Buttons...............................63 Simulation Page ................................... 84
Grid ................................................62 Run ................................................. 85
PME ................................................62 Setup .............................................. 84
PME Display Button ..........................71
Position Symbols ..............................61 T
Screen Options Button......................70 Technical Data ................................... 114
Summary .........................................60 Alstom Scope of Supply .................. 114
Toggle Display Button.......................69 Centres of Rotation ........................ 116
Tracking Window .............................65 PME .............................................. 115
True Motion/Relative Motion Button...71 Project Summary............................ 114
Vessel..............................................61 Sensors ......................................... 114
Vessel and Forces.............................62 Serial Links .................................... 118
Thrusters ....................................... 115
N
Vessel Parameters .......................... 116
Numeric Keypad...................................14 Thrust Vectors Page .............................. 91
Reduced Joystick Button.................... 92
O Thruster Demands Page........................ 93
Operator’s Panel ..................................12 Thruster Display ................................... 32
Thruster Feedbacks Page ...................... 94
P Thruster Outstation................................. 6
Thruster Selection Window .................... 89
PME Console..........................................6 Track Follow Page ................................ 95
PME Data Page ....................................72 Heading Mode Window ................... 96
Acoustic Transponder Button.............73 Track Type Window.......................... 97
Arial Offset Window .........................73 Track Waypoint Control Options
PME Options....................................73 Window........................................... 98
Position Error ...................................72 Tracking Mode Window ................... 97
Position Fix ......................................72 Trackerball Panel ................................. 14
PME Median Check Page ......................74 Trends Page......................................... 99
PME Weightings Page ...........................75 Variable Selection Top Trend Window
Kalman Gain ...................................76 ..................................................... 100
Position Fix Repeatability Page...............77 Twinplex DP System ................................ 4
Power Control ......................................10
Power Mimic Page ................................78 U
Bus Section Power Window ...............79
Power Trends Page ...............................80 Upper Menu ........................................ 26
Set Power Alarm Value Window ........80 Alarm.............................................. 27
Configuration Status ........................ 28
S Console in Control........................... 27
Console Status................................. 26
Sensor and PME Devices .......................29
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Control Mode ..................................26 UPS Module ........................................... 6

Control Status ..................................27
Date and Time.................................27 W
Measured Heading ..........................26 Warning Watch Circle .......................... 63
Vessel Position .................................26

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c A-Series Dynamic Positioning System

Chapter 2 System Description

2.3.22 Thruster Demands Page .................................................................93

Chapter 2 System Description

• DP11 – stand alone simplex system, (Class 1).

Chapter 2 System Description

1.1.1 Simplex DP System

Chapter 2 System Description

1.2 TECHNICAL DESCRIPTION

Typical DP System Block Diagram

Chapter 2 System Description

• Input and output system interfaces.

The thruster outstation contains a programmable logic controller (PLC) that is

The outstation converts the digital DP signals to an analogue ±10V or 4-20mA

Chapter 2 System Description

The DP control system is a multiloop feedback control system.

The control system is divided into two separate functions:

The four basic control actions can be summarised as:

• Calculate the deviation in the X, Y and N axes.

• Calculate the required counteracting forces in the X, Y and N axes.

• Transform the counteracting forces into commands to the individual thrusters.

Chapter 2 System Description

Vessel Control System Schematic Diagram

• Thruster Allocation – takes the total Thrust Demand, expressed in X, Y and N

• Actual Thrusters – all available thrusters.

Chapter 2 System Description

The use of the Model Ship provides several advantages:

• Positioning can be maintained over a greater range of weather conditions,

The rejection criteria for position fixes are:

• Fix frozen – two consecutive fixes unchanged.

• Age of differential greater that 10 seconds, and not zero seconds.

• Fixes not differentially corrected.

• Serial PME’s message received and checked unhealthy.

Chapter 2 System Description

1.2.3 Power Control

During commissioning a critical margin is set as a percentage of the maximum

Chapter 2 System Description

The DP console consists of:

• An LCD monitor (1280 x 1024 pixels).

Chapter 2 System Description

2.1.1 Operator’s Panel

The operator’s panel consists of:

• Left and right selection keypads.

Chapter 2 System Description

Left and Right Selection Keypads

The selection keypads are grouped into functions as shown below.

Left And Right Selection Keypads

Left Hand Selection Keypad

STBD PORT THRUST FAST

Right Hand Selection Keypad

GYRO GYRO GYRO

Chapter 2 System Description

Chapter 2 System Description

The joystick panel provides the facilities for:

• Manual position control.

• Manual heading control.

• Control mode selection.

• Graphics and lamp dimmers.

• Heading and position LCD display.

Set Fix Change Position Joystick

JSMH JSAH DP MIN AUTO

ENABLE LAMP CONTROL COMMS SYSTEM

Chapter 2 System Description

Manual Position Control