K-Pos Autopilot Mode

Operator Manual
Release 8.4

436101/A
December 2018 © Kongsberg Maritime AS
Document history

Document number: 436101 / Revision A

Rev. A December 2018 This version describes operation of the Autopilot mode for the K-Pos
system at basis software release 8.4.0.

The reader
This Operator Manual is intended as a reference manual. The manual is based on the assumption that the
operator is experienced and has good understanding of basic principles of the system. 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.
You 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@km.kongsberg.com
For technical support issues, please contact km.support@km.kongsberg.com.

Kongsberg Maritime AS
www.kongsberg.com
 Operator Manual

Table of contents

SYSTEM OVERVIEW ................................................................. 5

Autopilot mode description ...............................................................................................5
PREPARING FOR OPERATION .................................................. 6
Preparing for Autopilot operation......................................................................................6
CONTROLLING THE VESSEL ..................................................... 7
Running Autopilot mode ...................................................................................................8
Controlling the speed from manual levers .........................................................................9
Changing the vessel heading..............................................................................................9
Changing the rate of turn .................................................................................................10
Lost gyrocompass measurements ....................................................................................10
DIALOG BOXES ...................................................................... 11
Heading dialog box ..........................................................................................................12
Heading page ..........................................................................................................13
Rate of turn page ....................................................................................................15
Rate of turn dialog box ....................................................................................................16
Sensors dialog box - Speed page .....................................................................................17
Steering dialog box ..........................................................................................................20
Steering page ..........................................................................................................21
Gain page................................................................................................................28
Compensate page....................................................................................................31
Thrust allocation dialog box ............................................................................................33
DISPLAYED INFORMATION.................................................... 37
Conning view ...................................................................................................................38
Heading pane ..........................................................................................................39
Vessel speed pane ...................................................................................................40
Steering control mode pane ....................................................................................41
Steering pane ..........................................................................................................42
Conning view examples .........................................................................................43
Dashboard layout .............................................................................................................44
Vessel speed pane ...................................................................................................45
Heading pane ..........................................................................................................46

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K-Pos Autopilot Mode

4 436101/A
 System overview

System overview

Autopilot mode description

The Autopilot mode enables the vessel to keep a course by accurately and automatically
controlling the vessel's heading. This mode uses the vessel's propeller and rudder or
azimuth thrusters.
The vessel speed can be controlled from the joystick on the operator station or from
manual levers (requires the K-Thrust RCS system).

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Preparing for operation

Preparing for Autopilot operation

Procedure
1 Ensure that sufficient thrusters for this operation are enabled.
Necessary sensors:
2 Ensure that at least two gyrocompasses are enabled.
If this requirement is not met, the following message is shown:
Heading monitor requires 2nd source
3 Ensure that the required wind sensors are enabled.
4 Ensure that the required VRSes are enabled.
5 Ensure that at least one speed sensor is enabled.
If this requirement is not met, the following message is shown:
Speed sensor dropout
6 Ensure that the system is prepared for manual input of speed.
The Enable - Manual check box is selected in the Sensors dialog box - Speed page
Recommended system settings:
7 Use the Steering dialog box to set the required steering parameters:
• Rudder limits
• Steering group and steering mode
• Gain level
• Wind compensation

Related topics
Sensors dialog box - Speed page, page 17
Steering dialog box, page 20

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 Controlling the vessel

Controlling the vessel

Topics
Running Autopilot mode, page 8
International rules and regulations are applicable for HCS (Heading Control System)/ Autopilot
products. In order to follow these regulations most of the DP alarms are reported as warnings
when the vessel is in Autopilot mode. If there are active alarms when changing to Autopilot mode,
new warnings are generated and the active alarms change to normal state after a timeout period.
Controlling the speed from manual levers, page 9
With an Integrated Automation System from Kongsberg installed, the vessel speed can be controlled
using levers at the K-Thrust RCS system while heading control is retained at the K-Pos system.
Changing the vessel heading, page 9
There are several ways to change heading during Autopilot mode.
Changing the rate of turn, page 10
There are three ways to change the speed at which the vessel should turn during a heading change
(i.e. the vessel's rate of turn).
Lost gyrocompass measurements, page 10
If the measurements from all enabled gyrocompasses are lost, the moment demand from the
Autopilot will be frozen.

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K-Pos Autopilot Mode Operator Manual

Running Autopilot mode

International rules and regulations are applicable for HCS (Heading Control System)/
Autopilot products. In order to follow these regulations most of the DP alarms are
reported as warnings when the vessel is in Autopilot mode. If there are active alarms
when changing to Autopilot mode, new warnings are generated and the active alarms
change to normal state after a timeout period.

Prerequisites
If the vessel's rotation centre is other than midships when entering Autopilot mode, it is
automatically changed to Midships, and the following message is shown:
Rotation Center is reset

Procedure
1 While still in Joystick or Auto Position mode, manoeuvre the vessel onto the
required heading.
2 Press the AUTO PILOT button twice within four seconds.
• The AUTO PILOT and YAW buttons become lit.
Note
Deselecting the YAW button will enable manual steering.
If the surge demand is negative heading control will be suspended a message
HDG control suspended is shown and the mode is indicated as Suspended on the
Heading pane.

• The vessel heading is controlled automatically.

• Heading warning and alarm limits are turned on automatically.
• The vessel speed is controlled from the joystick.
3 Move the joystick in the alongships direction until the required vessel speed is
obtained.
4 When sufficient speed is obtained, click Thruster→Allocation Mode to open the
Thruster Allocation dialog box.
5 If the Free Run function is available, select Free Run - On and click OK or Apply.
When Free run thruster allocation is activated, full speed will be available.

Related topics
Thrust allocation dialog box, page 33

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 Controlling the vessel

Controlling the speed from manual levers

With an Integrated Automation System from Kongsberg installed, the vessel speed can
be controlled using levers at the K-Thrust RCS system while heading control is retained
at the K-Pos system.
Refer to the K-Thrust RCS Operator Manual for more information.

Changing the vessel heading

There are several ways to change heading during Autopilot mode.
• By using the Heading Wheel on the operator panel and its HEADING buttons (from left
to right), DECREASE, ACTIVATE and INCREASE.
• By marking a new heading setpoint on the Posplot view.
• By using the Heading dialog box.
Note
When changing the heading setpoint, the turn direction will depend on the new
heading setpoint. The shortest turn is always used.

• By disabling automatic YAW control and manually controlling the rudder/azimuth

angle (steering) directly by rotating the joystick. When the required heading is
reached, YAW control must again be enabled.
When YAW is disabled, observe the following changes:
– The text Manual steering appears in the Steering control mode pane on the Conning
view.
– The text Manual appears in the Steering pane on the Conning view.
– On the heading pane on the dashboard the heading mode changes to manual
steering and the text Auto control axis and symbol are removed.

Related topics
Heading dialog box - Heading page, page 13
Conning view, page 38

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K-Pos Autopilot Mode Operator Manual

Changing the rate of turn

There are three ways to change the speed at which the vessel should turn during a
heading change (i.e. the vessel's rate of turn).
• By using the Rate Of Turn dialog box:
click Settings→(Control) Rate of turn.
• By using the Rate Of Turn page of the Heading dialog box:
click Positioning→Heading.
• By using the Heading wheel on the operator panel and its Rate of turn buttons on each
side of the heading wheel, DECREASE (left side) and INCREASE (right side).

Related topics
Heading dialog box - Rate of turn page, page 15
Rate of turn dialog box, page 16

Lost gyrocompass measurements

If the measurements from all enabled gyrocompasses are lost, the moment demand
from the Autopilot will be frozen.
The heading setpoint is automatically set to the present heading. However, this does not
influence the vessel's movement. Present Heading is indicated by:
• The PRESENT HEADING button on the operator panel being lit.
• The status of heading mode in the dashboard is set to PRESENT.
Perform any actions that may be required to control the vessel's movement; for example,
go to manual steering by disabling automatic YAW control.
If the vessel is in Autopilot mode with automatic YAW control when the gyrocompasses
again are enabled, the heading setpoint is automatically set to the present heading. You
must ensure that this is the wanted heading.

Related topics
Heading pane, page 39

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 Dialog boxes

Dialog boxes

Topics
Heading dialog box, page 12
Use this dialog box to define a new heading setpoint and select the strategy for changing the
heading. You can also set the rate of turn.
Rate of turn dialog box, page 16
Use this dialog box to change the rate of turn during automatic heading control.
Sensors dialog box - Speed page, page 17
Speed measurements can be used as an addition to position measurements to improve the vessel
speed control. Use this page to enable available speed sensors or to enter a manual alongships
speed value.
Steering dialog box, page 20
Use this dialog box to set up and configure the settings for the Autopilot mode.
Thrust allocation dialog box, page 33
Thrust allocation can be performed in many different ways. The functions that are available for the
vessel are listed on the Thrust allocation dialog box.

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Heading dialog box

Use this dialog box to define a new heading setpoint and select the strategy for changing
the heading. You can also set the rate of turn.

How to open
Either press the CHANGE HEADING button on the panel or click Positioning→Heading.
This dialog box has several pages.

Related topics
Heading dialog box - Heading page, page 13
Heading dialog box - Rate of turn page, page 15

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Heading dialog box - Heading page

Use this page to define the heading setpoint.

How to open
Either press the CHANGE HEADING button on the panel or click Positioning→Heading.

Example

Description
While entering data in the Heading page, before you click OK or Apply, a temporary
heading setpoint symbol is shown in the Posplot view indicating the proposed heading
setpoint.
Note
When changing the heading setpoint, the turn direction will depend on the new heading
setpoint. The shortest turn is always used.

Details
New setpoint

Shows the heading that will be used as the new heading setpoint when you click
OK or Apply. When Operator selected is selected under strategy, you can enter the
heading setpoint by typing the required heading or by increasing or decreasing the
value using the arrow buttons next to the New setpoint spin box.
A temporary heading setpoint symbol is shown in the Posplot view indicating
the proposed heading setpoint.

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Previous setpoint

Shows the previous heading setpoint. Click Use to enter this heading into
the New setpoint box. You can therefore use this feature to return the vessel
to a previous heading.
Offset from present setpoint

Shows the difference in heading between the new setpoint and the present
setpoint. This value is updated dynamically when you enter the new heading
setpoint.
Strategy

System selected

This function is not available during Autopilot mode.

Operator selected

If you choose Operator selected, you can enter the heading setpoint using any
of the other methods described here.

Related topics
Heading dialog box, page 12

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 Dialog boxes

Heading dialog box - Rate of turn page

Use this page to define the speed at which the vessel should try to rotate during a change
of heading (the vessel's rate of turn).

How to open
Click Positioning→Heading.

Example

Description
As the vessel approaches the heading setpoint, the rate of turn is reduced to zero.
When the vessel rotation centre is at a position other than the centre of the vessel
(midships), the actual rate of turn may be less than the speed specified. This is because
the speed of movement of the centre of the vessel is limited in proportion to the required
vessel speed and the distance of the rotation centre from the centre of the vessel.

Details
New setpoint

Enter the required value in the New setpoint box, or use the arrow buttons to adjust
the setpoint.

Related topics
Heading dialog box, page 12

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K-Pos Autopilot Mode Operator Manual

Rate of turn dialog box

Use this dialog box to change the rate of turn during automatic heading control.

How to open
Click Settings→(Control) Rate of turn

Example

Description
As the vessel approaches the heading setpoint, the rate of turn is reduced to zero.
When the vessel rotation centre is at a position other than the centre of the vessel
(midships), the actual rate of turn may be less than the speed specified. This is because
the speed of movement of the centre of the vessel is limited in proportion to the required
vessel speed and the distance of the rotation centre from the centre of the vessel.

Details
New setpoint

Enter the required value in the New setpoint box, or use the arrow buttons to adjust
the setpoint.

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 Dialog boxes

Sensors dialog box - Speed page

Speed measurements can be used as an addition to position measurements to improve
the vessel speed control. Use this page to enable available speed sensors or to enter a
manual alongships speed value.

How to open
Click Sensors→Speed.

Example

Description
In high speed operations all enabled sensors will normally, unless a sensor has failed,
be used by the system. It is recommended also to enable manual speed input since the
manual value then will be updated based on the sensors in use. Should all sensors be
lost, an initial manual value will reflect the real situation.

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K-Pos Autopilot Mode Operator Manual

Details
Doppler log

Enable
Each sensor has an associated Enable check box. Selecting this check box
enables the signals from the sensor. The system will automatically disable
a sensor if it is not OK. The Enable check box is deselected and made
unavailable.
In use
The sensor that is currently used by the system is indicated in the In use
check box. If the sensor is not OK or a failure is detected, the check box
is deselected and the system will automatically switch to another sensor
enabled for use. This check box is for information only.
Along

Shows the measured alongships vessel speed.

Athwart

Shows the measured athwartships vessel speed.

The Doppler Log speed is marked with SOG or STW depending on the type
of speed output from the sensor:
• SOG — Speed over ground
• STW — Speed through water
GPS speed

Enable
Each sensor has an associated Enable check box. Selecting this check box
enables the signals from the sensor. The system will automatically disable
a sensor if it is not OK. The Enable check box is deselected and made
unavailable.
In use
The sensor that is currently used by the system is indicated in the In use
check box. If the sensor is not OK or a failure is detected, the check box
is deselected and the system will automatically switch to another sensor
enabled for use. This check box is for information only.
Speed

Shows the measured vessel speed.

Course

Shows the measured vessel course.

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 Dialog boxes

Note
When a failure occurs in the GPS speed and/or course signals, the Speed and
Course boxes are marked with ‘- - - - - -’.

Manual speed

Enable

Select this check box to enable Manual speed. In high speed operations it is
recommended to enable Manual when using speed sensors to have an initial
Manual value that reflects the real situation.
In use

If the manual value is currently used by the system, it is indicated in the In

use check box. This check box is for information only.
Along

When no speed sensors are enabled, you can enter a value in this text box.
This box is not available when one or more sensors are enabled.
If you enter a value that is too high, a message about the legal range is
shown. You will have to change the input value to continue.
Used speed

Shows the vessel speed used by the system. This is an average, filtered value of the
combined measurements from the In use speed sensors or the manual input value.
Along

Shows the used alongships vessel speed.

Athwart

Shows the used athwartships vessel speed. This will be zero when no speed
sensors are enabled.

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K-Pos Autopilot Mode Operator Manual

Steering dialog box

Use this dialog box to set up and configure the settings for the Autopilot mode.

How to open
Click Settings→(Control) Steering.
This dialog box has several pages.

Related topics
Steering dialog box - Steering page, page 21
Steering dialog box - Gain page, page 28
Steering dialog box - Compensate page, page 31

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 Dialog boxes

Steering dialog box - Steering page

How to open
Click Settings→(Control) Steering.

Example

Description
Note
The vessel configuration determines the options that are available on this dialog box.

Use this page to:

• Set angle limits for the rudders and/or azimuth thrusters within which the
rudders/azimuth thrusters are allowed to operate.
• Select the steering mode which determines how the selected steering group is used
to steer the vessel.
• Select which pre-configured steering group is to be used for steering the vessel.

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• Set maximum steering and propulsion force.

The system is pre-configured with:
• The thrusters available for steering (steering units).
• The thrusters to provide only alongships force (force units).
• The steering units grouped into steering groups.
Example of vessel configuration. The thrusters are represented by numbers:

This example-vessel has three steering groups, each comprising two steering units.
These thrusters are also configured for use as force units.

Details
Limits
Automatic
In high-speed operations, the system will not turn the rudders/azimuth
thrusters beyond the specified limit. At high speeds, a relatively small limit
such as five degrees is often used.
If you try to enter angle values beyond predefined limits, a message
instructing you to correct the values will be displayed.
Manual
When the system is in high-speed operation, manual limits are not applicable.
In Autopilot mode with joystick heading control, the system will not turn the
rudders/azimuth thrusters beyond the specified limit. This limit is usually
set to a high value (for example, the maximum physical angle for rudders
or 40 degrees for azimuth thrusters) so that the maximum steering effect
can be achieved.
If you try to enter angle values beyond predefined limits, a message
instructing you to correct the values will be displayed.

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 Dialog boxes

Note
See also Fixed angle steering mode.

Steering mode

This determines how the steering units within the active steering group are used to
steer the vessel. It is not available if there is only one steering unit.
Steering group

In high-speed operations, you can select the preconfigured steering group to be

used for steering the vessel. This option is not available if there is only one defined
steering group.
MAX Force Limit %

The system will first apply force using the steering units, before using the force
units. In this way, steering is prioritised over alongships propulsion.
The limit, at which the system begins to apply force using the force units in
addition to the steering units, is determined by the MAX force limit % for Propulsion
and the MAX force limit % for Steering entries.
How the forces are distributed between the thrusters, is determined by the MAX
force limit % for Propulsion and the MAX force limit % for Steering entries.
The value of MAX force limit % for Propulsion cannot exceed the value of MAX
force limit % for Steering. The spin box will not allow you to enter a higher value
for Propulsion than the value for Steering.
If the vessel is configured with only one steering group and there are no additional
force units, these entries are not displayed on the dialog box.
If MAX force limit % for Propulsion is not enabled (check box not selected), all units
will increase to 100% simultaneously when the demand exceeds the steering limit.
Example
• The steering units are thrusters 7 and 8 (Steering group AUX).
• MAX force limit % for Propulsion is set to 60%.
• MAX force limit % for Steering is set to 90%.

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No thrust is applied to the force

units until the force demand reaches
90% on the steering units.

When the force demand is equal to

90% on the steering units, they are
frozen at this level until the force
units reach 60%.

Above this level there are three possibilities. The system configuration
determines the one which applies:
• The steering units are limited to 90% and the force units are limited to
60% even though the force demand is higher. (Normal configuration).
• The steering units will increase (if necessary) to 100%, while the force
units are still limited to 60%.
• The force units are limited to 60% until the steering units reach 100%.
The force units then start increasing if necessary.

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Examples of Steering mode

In the examples shown for the different steering modes, steering group AUX is used.
Synchronous — Both steering units have the same azimuth angle and are used to generate
the directional force.

Asynchronous Auto — Only one steering unit is used to generate the directional force,
while the other is fixed alongships. The steering unit is selected automatically depending
on the turn direction.

Asynchronous Starboard — The starboard steering unit generates the directional force.
The port steering unit is fixed alongships.

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K-Pos Autopilot Mode Operator Manual

Asynchronous Port — The port steering unit generates the directional force. The
starboard steering unit is fixed alongships.

Fixed angle — The steering thrusters are at fixed angles. Changing tha RPM and/or
pitch is used to obtain moment demand. Thruster angles will be fixed at the maximum
turn-angle limit as it is defined in the dialog box by the operator. For example, when yaw
control is active, the thrusters will stay at the Automatic angle limit (which is normally
default at 15 degrees). When yaw control is not active the thrusters will go to the Manual
limit (default 35 degrees). The thrusters will work inwards, that means the starboard
thruster will have a positive fixed angle and the port thruster will have a negative fixed
angle according to the limitations described above.

Note
Limitations to the Fixed angle function:
1 The steering group must consist of two members.
2 They must both be azimuth thrusters (not propellers with rudders).
3 The priority of the steering group must be higher than emergency (Aux or Propeller).
4 The thrusters must be located in the aft section of the vessel.

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Examples of Steering group

In the examples shown, the thrusters are represented by numbers. You can select between
the Emergency, AUX and Propeller steering groups. The names will be customized for
each vessel. The figures below show the effect of selecting these steering groups when
the Synchronous steering mode is also selected.
Steering units belonging to groups that are not selected for steering provide only
alongships force.

Steering group Emergency, demand to port.

Steering group AUX, demand to port.

Steering group Propeller, demand to port.

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Steering dialog box - Gain page

Use this page to set a gain level for the yaw axis in Autopilot mode. The gain level for
counter rudder and auto trim can also be set.

How to open
Click Settings→(Control) Steering gain.

Example

Details
Gain level

Automatic

If configured for your system, automatic gain is available in Autopilot mode.

When this option is selected, the system computes the appropriate gain level
based on the vessel speed.
You must clear the Automatic check box before you can select the gain level.

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Low Med. High

You can select one of three predefined controller gain levels: Low (50%),
Med. (Medium) (100%) or High (150%). The selected gain level applies
to the yaw axis in Autopilot mode.
(Operator defined)

The gain level can also be set manually between 50% and 150% by clicking
the up/down arrows or typing in the required value.
Different gain level for each of the three standard gain levels are defined to
suit the characteristics of the vessel. The deviations in heading and rate of
turn are multiplied by the selected gain factor to obtain the required moment
demand.
If a new mode is selected where Automatic gain is not allowed, the controller
gain level is automatically changed to the default value, and a warning will
be given.
The most suitable gain level depends on the vessel characteristics, the
weather conditions and the required accuracy. Operational experience
therefore plays a large part in determining the optimal gain level, but the
following general points should be noted:
• High gain provides the quickest vessel response and the most accurate
manoeuvring.
• Medium gain provides a slower vessel response than high gain.
• Low gain provides the slowest vessel response.
Counter rudder

This can be set in the range from 50 to 150%, with a default of 100%.
The counter rudder serves two purposes, firstly to give a smooth transition to a
new heading after a major course change, and secondly to enable the autopilot to
stabilise the vessel on a straight course.
If the counter rudder setting is too low, there may be an overshoot past the new
heading and it may take a long time before the new heading is stabilised.
If the counter rudder setting is too high, there may be an over-correction followed
by a small overshoot past the new heading, and the vessel may tend to oscillate
around the new heading. A typical symptom here is an over-active rudder.

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Auto trim

This corrects for static heading deviation due to weather forces.

The Auto trim can be set in the range from 50 to 150%, with a default of 100%.
A low Auto trim setting (minimum 50%) results in a slower correction of static
heading deviation.
A high Auto trim setting (maximum 150%) results in a faster correction of static
heading deviation.
Reset

Click this button to reset the Gain level, Counter rudder and Auto trim to the default
settings.

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Steering dialog box - Compensate page

Use this page to enable or disable wind forces compensation and thruster moment
compensation.

How to open
Click Settings→(Control) Steering.

Example

Details
Environment

Wind forces compensation

When wind force compensation is enabled, the vessel will react much more
quickly to sudden changes in wind speed and direction.

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Thrusters

Moment compensation

This is only available on a few vessels where vessel speed is controlled by

manual levers.
When the vessel speed is controlled by manual levers and the vessel heading
is controlled by the DP system, the DP system normally compensates
automatically for the turning moment generated by the force thrusters. When
the Moment compensation check box is selected for a thruster, the system
reads the feedback signal from that thruster and takes account of the resulting
turning force.
If there is a known fault situation where the feedback from a particular force
thruster is unreliable, you can clear the corresponding Moment compensation
check box. The DP system will no longer compensate for the effect of this
thruster.

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Thrust allocation dialog box

Thrust allocation can be performed in many different ways. The functions that are
available for the vessel are listed on the Thrust allocation dialog box.

Prerequisites
For some of the modes a sufficient number of thrusters must be enabled to select the
mode. The system will automatically switch back to the default thrust allocation mode
(normally VARIABLE mode), if you deselect thrusters or thrusters lose their READY
status.

How to open
Either press the ALLOC. SETUP button on the panel or click Thruster→Allocation mode.

Example

Description
The configuration and operational requirements of the vessel determines the thrust
allocation modes that are implemented in the system, as well as the criteria for the
automatic mode switch. Details of the available thrust allocation modes are provided
with the configuration information for each vessel.

Details
Mode

For the azimuth thrusters, you can choose between various thrust allocation modes.

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The currently-selected thrust allocation mode is shown both in the Thrust allocation
dialog box and in the Thruster main view.
Depending on the operation mode, illegal thrust allocation modes will be
unavailable.
Some azimuth thrust allocation modes can be configured to comprise thruster
biasing. Thruster biasing can also be available as a dedicated thrust allocation
mode with its own name. The following are some typical examples of azimuth
thrust allocation modes:
Variable

The system automatically changes the angle of the azimuth thrusters so that
the thrust is always angled in the optimum direction. In order to reduce wear
and tear on the azimuth thrusters due to continuous changes in the azimuth
thruster angles, a dead-band function is incorporated.
Use this thrust allocation mode when the environmental forces acting on the
vessel are large and are not constantly changing direction.
A set of forbidden zones for each thruster can be predefined to prevent a
particular thruster from interfering with other thrusters, the hull or other
equipment. What happens to the thrust when a thruster passes a forbidden
zone can be predefined for each zone (for example, the thrust can be reduced).
Fix

The system automatically selects a predefined fixed angle for each or some of
the azimuth thrusters. When the environmental force is small and constantly
changing direction, this mode can be used in order to avoid continuous
changes in the azimuth thruster angle.
If you disable and then re-enable a thruster that is running in this mode with
a negative pitch or rpm, the system will automatically turn the thruster 180
degrees.
Steering
Azimuth thrusters not used for steering will have predefined fixed angles
for use in Autopilot mode. This allocation mode is automatically selected
when the system is in Autopilot mode.
Environ fix

A set of alternative, fixed angles are predefined for each azimuth thruster
from which the system automatically selects the optimum angles. The
system selects the angles for azimuth thrusters according to the directional
force setpoint when the operator selects this mode.
If you disable and then re-enable a thruster that is running in this mode with
a negative pitch or rpm, the system will automatically turn the thruster 180
degrees.

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Fix weather PORT

The system automatically selects a fixed angle for each azimuth thruster,
suitable for counteracting environmental forces from the port side.
Fix weather STBD

The system automatically selects a fixed angle for each azimuth thruster,
suitable for counteracting environmental forces from the starboard side.
Diving

This is identical to VARIABLE azimuth mode except that the two modes have
separate configuration of prohibited zones. It is used to activate dedicated
zones during diving operations to prevent the sending of thruster wash
towards the umbilical or diving bell.
This mode can also be used to protect other kinds of equipment, such as HPR
and LTW, and will then be named accordingly.
What happens to the thrust when a thruster passes a prohibited zone can be
predefined for each zone (for example, the thrust can be reduced).
Heave red

When using heave reduction, excessive thrust is applied to increase the

hydrodynamic damping of the vessel. This reduces the motion of the vessel
induced by wave forces. The effect can be used to reduce the motions when
particularly critical operations are to be carried out, for example crane
operations, transfer of personnel, etc.
The azimuth thrusters configured to participate in the motion reduction will
be at predefined azimuth angles, and they will as a minimum be run at a
predefined force limit, for example 50 % force. The thruster angles are
selected so that the resulting thrust is zero when there is no thrust demand.
Manual fix

In this mode the operator can freely set fixed azimuth angles of azimuth
thrusters and rudders/nozzles using the Allocation settings dialog box.
Control

The configuration and operational requirements of the vessel determine the

controls that are implemented in the system. Details of the available controls are
provided with the configuration information for the vessel.
The following are examples of thrust allocation controls:
Increased power

Allows the thrusters to be used at more than their nominal rating for a
limited period of time (if the thrusters are designed to handle this) in order to
survive an emergency situation. The increased power is predefined for each
thruster, typically 10 % to 20 %. Normally, this mode needs a ready signal
to be selected. When the time period has expired, the thruster utilisation is
automatically returned to nominal values.

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K-Pos Autopilot Mode Operator Manual

Position priority

If both the rotational moment and directional force setpoint cannot both be
met due to insufficient available thrust, priority is normally set to obtain the
rotational moment setpoint (heading priority). Clicking Position priority
changes the thrust allocation priority from heading to position.
Free run

Allows a greater maximum pitch/rpm to enable the vessel to reach full speed when
running in Autopilot or Auto Track (high speed) mode. When set to Automatic, free
run is automatically selected when Autopilot or Auto Track (high speed) mode is
entered. The on/off state for free run is also shown in the Thruster main view. The
contents of the Free Run group box may vary depending on vessel configuration.

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 Displayed information

Displayed information

Topics
Conning view, page 38
The Conning view provides useful information in high-speed modes, especially during transit
and manoeuvring, and shows the thruster layout, heading information and information related
to the selected mode.
Dashboard layout, page 44
This section describes the panes that are different when in Autopilot mode.

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K-Pos Autopilot Mode Operator Manual

Conning view
The Conning view provides useful information in high-speed modes, especially during
transit and manoeuvring, and shows the thruster layout, heading information and
information related to the selected mode.

How to open
To select the view, place the cursor in the upper left corner of the working area so that
the drop-down list becomes visible. Click the arrow and select the view from the list.
Alternatively, you can click the Conning button on the side bar or a dedicated button
on the panel.
The Conning view is displayed as a new window.

Example

Description
The panes that are special for the Conning view are Heading, Vessel speed, Steering
control mode and Steering.

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 Displayed information

Heading pane
This pane shows numerical and graphical information relevant to manual and automatic
heading control functions. The information changes automatically according to the
selected main mode.

The Heading pane on the Conning view contains most of the same information as the
Heading pane on the dashboard. The main differences are:
• None of the areas are click-sensitive.
• The setpoint values (in brown colour) are always visible, either as a numerical value
or as ‘- - - - - - - -’.

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K-Pos Autopilot Mode Operator Manual

Vessel speed pane

In Autopilot mode, this pane on the Conning view shows the vessel speed and direction.

The vessel's speed is shown in the top right-hand corner of the pane.
It also contains a pointer (and a numerical reading) indicating the vessel’s course.
The blue pointer indicates the course over ground together with the value in degrees.
SOG/STW: The indicator next to the reading for speed tells you whether speed over
ground (SOG) or speed through water (STW) is shown.
The name of the sensor measuring the speed is usually shown. If the vessel speed is input
manually, this is indicated by the text Manual on yellow background. If it is calculated
by the system, it is indicated by the text Model on yellow background.

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 Displayed information

Steering control mode pane

This pane shows the different combinations of control mode selected during Autopilot
operations.
Auto Pilot mode with automatic heading control.
Auto Pilot button lit, Yaw button lit.

Auto Pilot mode without automatic heading control.

Auto Pilot button lit, Yaw button not lit.

Auto Pilot mode with negative surge demand

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K-Pos Autopilot Mode Operator Manual

Steering pane
This pane contains information about the heading control.

Clicking anywhere in this pane opens the Steering dialog box.

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 Displayed information

Conning view examples

Autopilot mode:

Manual steering:

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K-Pos Autopilot Mode Operator Manual

New heading setpoint in Autopilot mode:

Dashboard layout
This section describes the panes that are different when in Autopilot mode.
The dashboard area shows important performance information to allow immediate
assessment of the situation. The content of this area cannot be altered by the operator,
but changes automatically according to the selected main mode.
Several parts of the dashboard area are click-sensitive.
As the cursor changes when it is moved over a click-sensitive object, a tooltip is shown
for a few seconds. This text explains the use of the click-sensitive object.
Note
The Power consumption pane is not part of the dashboard for display ration 4:3.

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 Displayed information

Vessel speed pane

The vessel's speed is shown in the top right-hand corner of the pane.
It also contains a pointer (and a numerical reading) indicating the vessel’s course.
The blue pointer indicates the course over ground together with the value in degrees.
SOG/STW: The indicator next to the reading for speed tells you whether speed over
ground (SOG) or speed through water (STW) is shown.
The name of the sensor measuring the speed is usually shown. If the vessel speed is input
manually, this is indicated by the text Manual on yellow background. If it is calculated
by the system, it is indicated by the text Model on yellow background.
Clicking this area opens the Speed Setpoint dialog box.

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K-Pos Autopilot Mode Operator Manual

Heading pane
This pane shows numerical and graphical information relevant to manual and automatic
heading control functions. The information changes automatically according to the
selected main mode.
In Autopilot mode, the presented vessel heading is the value from the gyrocompass in use.
This is indicated by the name of the gyrocompass being shown under the heading value.

If no gyrocompasses are enabled, or the gyrocompass measurements are invalid, the

vessel heading as estimated by the vessel model, based on the last known measured
heading from the gyrocompass. This is indicated by the text Model on red background
under the heading value. Heading pane in Autopilot mode with no gyro measurements
available:

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 Displayed information

Heading pane during manual steering (i.e. AutoPilot mode without automatic Yaw):

Heading pane during Auto Pilot mode with negative surge demand

The title area also indicates the mode in which the heading
is controlled. PRESENT means with automatic yaw control,
MANUAL STEERING means no automatic yaw control.

The yaw axis is under automatic or damping control.

When automatic heading control is selected, the heading

deviation is shown. Heading deviation is indicated by a
two-directional bar that represents the deviation from the
heading setpoint. If the deviation exceeds the available display
range, a plus (+) sign is shown in the bar. The range of the bar
is according to alarm limits. The colour of the bar changes
according to the heading warning and alarm limits:
• orange — warning limit exceeded
• red — alarm limit exceeded

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K-Pos Autopilot Mode Operator Manual

Clicking this bar opens the Alert limits dialog box.

The vessel heading (either as estimated by the vessel model, or

from the gyrocompass in use) is shown graphically against a
rotating compass rose and as a numeric value.
The heading setpoint is shown graphically on the compass rose
as a brown triangle. The current heading is a blue triangle.
When the system is in Joystick mode (with or without automatic
heading control selected) or Auto Position mode, the shown
vessel heading is as estimated by the vessel model. This is
indicated by the text Model shown under the numeric value.
Clicking this area shows the setpoint values in brown colour.

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 Index

Index

A T
Autopilot mode Thrust allocation dialog box............................... 33
description ................................................. 5
preparing ................................................... 6
running ..................................................... 8 V
Vessel speed pane ...................................... 40, 45
views
C Conning ................................................... 38
changing heading ............................................ 9
Conning view................................................ 38

D
dialog boxes ................................................. 11
Heading ................................................... 12
Heading ................................................ 13
Rate of turn ............................................ 15
Rate of turn ............................................... 16
Sensors
Speed ................................................... 17
Steering.................................................... 20
Compensate............................................ 31
Gain..................................................... 28
Steering................................................. 21
Thrust allocation ......................................... 33

H
heading
changing.................................................... 9
Heading dialog box ......................................... 12
Heading ................................................... 13
Rate of turn ............................................... 15
Heading pane ........................................... 39, 46

P
panes
Heading .............................................. 39, 46
Steering.................................................... 42
Steering control mode ................................... 41
Vessel speed ......................................... 40, 45

R
Rate of turn dialog box..................................... 16

S
Sensors dialog box
Speed ...................................................... 17
Steering control mode pane ............................... 41
Steering dialog box ......................................... 20
Compensate............................................... 31
Gain........................................................ 28
Steering.................................................... 21
Steering pane ................................................ 42

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