Kongsberg K-Pos

Follow Target Mode

Operator Manual
Release 8.2

385596/B
June 2015 © Kongsberg Maritime AS
Document history
Document number: 385596
A December 2013
B June 2015
This version describes operation of the Follow Target mode of
the K-Pos system at K-Pos basis software release 8.2.0.
This version describes operation of the Follow Target mode of
the K-Pos system at K-Pos basis software release 8.2.0. Updated
missing references.

The reader
This operator manual is intended as a reference manual for the system operator. This manual is based on
the assumption that the system operator is an experienced DP operator with a good understanding of basic
DP principles and general DP operation. If this is not the case, then the operator should first attend the
appropriate Kongsberg Maritime training courses.

Note
The information contained in this document remains the sole property of Kongsberg Maritime AS. No
part of this document may be copied or reproduced in any form or by any means, and the information
contained within it is not to be communicated to a third party, without the prior written consent of
Kongsberg Maritime AS.
Kongsberg Maritime AS endeavours to ensure that all information in this document is correct and fairly
stated, but does not accept liability for any errors or omissions.

Warning
The equipment to which this manual applies must only be used for the purpose for which it was
designed. Improper use or maintenance may cause damage to the equipment and/or injury to personnel.
The user must be familiar with the contents of the appropriate manuals before attempting to operate
or work on the equipment.
Kongsberg Maritime disclaims any responsibility for damage or injury caused by improper installation,
use or maintenance of the equipment.

Comments
To assist us in making improvements to the product and to this manual, we welcome comments and
constructive criticism.
e-mail: km.documentation@kongsberg.com

Kongsberg Maritime AS
www.kongsberg.com
 Operator Manual

Table of contents

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

RUNNING FOLLOW TARGET MODE .................................... 7
Defining mobile transponders ..................................................................................7
Defining settings for Follow Target mode................................................................8
Entering Follow Target mode ...................................................................................8
Controlling Follow Target mode ..............................................................................8
Heading control ............................................................................................ 8
Position control ............................................................................................ 8
Speed control................................................................................................ 8
Acceleration ................................................................................................. 8
Rate of Turn ................................................................................................. 9
Stopping during Follow Target mode.......................................................................9
USER INTERFACE .............................................................. 9
Follow Target dialog box — single target ................................................................9
Follow Target dialog box — multiple targets.........................................................10
Follow target pane ..................................................................................................12
Posplot view ...........................................................................................................13

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Follow Target mode

A K-Pos system with Follow Target mode has one of two available configurations:
• Follow Single Mobile Target
• Follow Multiple Mobile Targets
Follow Single Mobile Target enables the vessel to automatically follow a moving target
and keeps the vessel within a “position window” relative to the target. The moving target
must be equipped with a mobile reference transponder or laser reflector in order for the
K-Pos system to monitor its relative position. If, for example, the moving target is
a Remotely Operated Vehicle, then the vessel must be equipped with a Hydroacoustic
Position Reference (HPR) system.
In addition to a mobile reference transponder on the target, an additional fixed
position-reference system is required, such as DGPS or a fixed transponder deployed
on the seabed.
You can define a circle of operation within which the target can move without causing
the vessel to move. The radius of this circle (the “reaction radius”) can be up to 1000 m.
You can also pause the vessel movement during Follow Target mode. How the vessel
reacts in this situation is described in chapter Stopping during Follow Target mode
on page 9.

Figure 1 Follow Single Target

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Follow Multiple Mobile Targets enables a DP vessel to follow a moving structure or

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

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Running Follow Target mode

Defining mobile transponders
1 Enable a fixed position-reference system as the reference origin (see the Position
Information chapter in the relevant K-Pos (OS) Operator Manual).
2 Select Sensors →(Reference Systems) Settings.
• The Reference System Settings dialog box is displayed.

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

4 Check the Mobile check box for the transponder that will be used.

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Defining settings for Follow Target mode

1 Select Settings →(Modes) Follow Target.
2 In the Available list, highlight the mobile transponder you wish to use and click the
Add button to select it.
3 Set the required Reaction limits and Position Filter values.
4 When using Follow Multiple Mobile Targets, select the required Operation mode.
5 Click the Apply button to use the values entered in the Follow Target dialog box.

Entering Follow Target mode

Prerequisites: You must have transponders defined as mobile.
1 Press the FOLLOW TARGET mode button twice.
• The FOLLOW TARGET status lamp is lit.
• The SURGE, SWAY and YAW status lamps are lit.
• The reaction radius is displayed on the Posplot view as a circle around the
filtered position(s) of the mobile target(s). Filtered position is displayed on the
Posplot view as a blue dot.

Controlling Follow Target mode

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

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

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

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

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

Stopping during Follow Target mode

During Follow Target mode you can use the STOP button to pause the movement of the
vessel. The vessel starts to slow down in a controlled manner at a rate that depends on
the selected controller gain. The position/heading setpoint is updated continuously
according to the selected Operation Mode for Follow Target. When the STOP button
is deselected the vessel will move to be positioned at the same distance/heading to the
target as defined earlier.

User interface
Follow Target dialog box — single target
To display the dialog box, select Settings →(Modes) Follow Target.

Mobile Targets
To select a target, in the Available list, highlight the required target and click Add.
To remove a target from the Selected list, highlight the target you want to remove
and click Rem. Only one target can be selected at a time.
Reaction Limits
Position
Defines the reaction limit for position (reaction circle). The value entered (between
0 and 1000 m) is the radius of the reaction circle for the mobile target.

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

Follow Target dialog box — multiple targets

To display the dialog box, select Settings →(Mode) Follow Target

Mobile Targets
To select a target, in the Available list, highlight the required target and click Add.
To remove a target from the Selected list, highlight the target you want to remove
and click Rem.

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Operation mode
Follow Position

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

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

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

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Reaction Limits
Position
Defines the reaction limit for position (reaction circle). The value entered (between
0 and 1000m) is the radius of the reaction circle for the mobile target.
Heading
Defines the vessel's reaction sector for the heading relative to the moving structure.
Position Filter
Filter constant
Enter the required filter constant (0-100%) to increase or decrease the degree of
position filtering. A high percentage (50-100%) gives a high filtering which is
recommended if there is noise or unstable measurements from the targets. A low
percentage (0-50%) gives a low filtering which should be used if measurements
from the targets are stable and reliable.

Follow target pane

To display the pane: place the cursor in the upper left corner of a pane so that the
drop-down list becomes visible. Click on the arrow and select the pane from the list.
The Follow target pane shows information about
the settings defined in the Follow Target dialog
box and the content depends on the selected
Operational mode. All available information
is displayed when Follow position and heading
operational mode is selected.
The Follow target pane is useful to follow /
monitor during Follow target mode.
This pane is click-sensitive. The ordinary cursor
changes to a pointing hand when positioned over
this area. Clicking the left trackball button opens
the Follow Target dialog box.
The pane can be displayed even when the system is not in Follow target mode.

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Posplot view
Follow Single Mobile Target:
As the mobile target moves, the vessel's position setpoint remains unchanged.
When the mobile target reaches the edge of its reaction radius circle, the position setpoint
is updated automatically to restore the vessel to the same position relative to the target,
and the reaction radius circle is redrawn around the new position of the mobile target.

Figure 2 Posplot view in Follow Single Mobile Target mode

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Follow Multiple Mobile Targets:

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

Figure 3 Posplot view in Multi Target mode

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©2015 Kongsberg Maritime