GLOSSARY OF TERMS RELATING TO DYNAMIC POSITIONING

This Glossary is a reference to the terms that may have been used in the examination system. The
intention of this document is to align Training Centres and guide them to use the same definitions that
may be used in the online examination system.

Age of Data (AoD) Age of Data. The latency of the corrections within the
DGPS system. The lower the data update-rate the
greater the AoD. For Position-reference data to be
reliable and relevant it must have a low AoD.

Artemis A microwave position reference system using one

shore-based and one shipboard transceiver, giving
range and bearing information.

Astern operation (c.p. propeller) A c.p. (controllable-pitch) propeller is less efficient

when operating in the astern mode. Figures quoted
by propeller manufacturers state that thrust output is
typically between 50% and 70% of corresponding
ahead values.

Auto heading select A DP function in which the system determines the

heading of the vessel. Sometimes referred to as

tion calculates the

heading at which the vessel may be kept in position
with zero Sway force.

Auto Position The primary operational function of Dynamic

enabled to maintain position and heading

automatically.

Available power In a diesel-

the amount of reserve power immediately available
without starting additional generators. Sometimes

Azimuth barring
this is a function which prevents an azimuth thruster
from assuming an azimuth configuration in which
exhaust water stream is discharged directly into other
thrusters. Other functions of this facility include the
prevention of the discharged water stream from
affecting operational elements such as a diving bell or
ROV. This function may be Fixed, or Operator-
selectable; if the latter the operator may have the
capability of setting the barred azimuth limits.

Azimuth thrusters Any type of thruster unit that has the capability of
delivering thrust in any operator- or system-selected
azimuth. In DP mode azimuth thrusters will normally
have a full 360° azimuth capability. Certain modes will
restrict this capability or cause thrusters azimuth to be
fixed.

Azipod unit/thruster A type of azimuth thruster in which the drive motor is

contained within the pod unit, with normally a fixed-

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 pitch propeller usually, but not invariably operating in

Blackout prevention An important function of a Power Management

system. When Available Power is dwindling, the
Power Management system will automatically take
steps to prevent total blackout and total loss of control
of the vessel.

Bus Tie breaker A breaker allowing the connection or isolation of

individual sections of switchboard.

Capability plot/Capability diagram A Capability diagram is an approximate indication of

the positional and heading capability of the vessel
under a variety of stated conditions. A more realistic
indication is given by the online capability plot, in
which the data is recalculated at intervals, taking into
account the conditions obtaining at the time of
calculation

Catastrophic Failure A system failure which results in the loss of the ability
to maintain position and/or heading

Center of Rotation The reference spot within the vessel about which the
vessel will rotate when in full automatic positioning
mode. A vessel DP system may be configured with
more than one Centre of Rotation, operator-
selectable. Vessel positional deviations or errors are
given in terms of distance of the Centre of Rotation
from the Set Point, or desired, position

Checklist A pre-prepared list of tasks and checks to be

completed prior to commencing an operation or an
individual phase of an operation

Common Mode Failure A situation in which multple elements within a

redundant system fail simultaneously due to a
common cause or factor. The term is also used to
identify the possibility of this event

Consequence Analysis A DP software function required in vessels of

Equipment Classes 2 and 3 which continually verifies
that the vessel will remain in position subsequent to
-

Controllable pitch (c.p.) propeller Any propeller in which the magnitude of thrust is
wholly or partly effected by adjustment of the pitch
angle of the blades

Cyscan A laser-based position reference system

manufactured by Guidance Navigation

DARPS Differential Absolute and Relative Positioning System,

a DGPS-related PRS used by shuttle tankers and
FPSO

Dead Reckoning mode A mode of positioning in which the DP system

continues to function after loss of all position and/or

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 The system will default to this if such reference is lost.
Quality of positioning will deteriorate with time.

DGPS Differential GPS (see GPS). A position reference

system based upon the Global Positioning System
with enhanced accuracy provided from reference
stations located at fixed locations ashore or on
platform installations. Most differential corrections are
provided by means of subscription services.

Diesel-electric A configuration of vessel power and propulsion in

which diesel prime movers drive electrical alternators.
Power generated is used to power most vessel
functions including thrusters and propulsion units.

Diesel-electric hybrid A configuration of vessel power and propulsion in

which diesel prime movers are used to drive
alternators. Power generated is used to drive
thrusters, while other thrusters and propulsion units
are driven by direct-coupled (or geared) diesel
engines.

DP console Sometimes referred to as the HMI (Human-Machine

. The collection of panels and screens

allowing the DPO full control of all DP functions, and
displaying all information as to the status of the
vessel and system.

DP Control system A collective term including all processors/computers

within the DP system, also including the DP console
and any remotely-located or backup units.

DP Current A term loosely and erroneously used to describe the

sea current derived from the mathematical model. It
actually consists of a vector which represents sea
current and all other unknown forces.

DP desk See DP Console

DP Operator The designated watchkeeping officer responsible for

managing the Dynamic Positioning of the vessel.

DP Operator station See DP Console

DP System The DP system consists of 7 hardware elements plus

the DP Operator. The 7 elements are: The DP
Console, DP computer/processors, Position
Reference systems, Heading reference systems,
Environment reference systems, Power system and
Propulsion systems (including thrusters).

DQI DGPS Quality Indicator

Draught sensor Any device which remotely monitors the draught of

the vessel and transmits this information to a remote
location. DP vessels which undergo large changes in
draught and mass whilst undertaking DP operations
may have feedback of draught information enabled
into the DP system

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Dual frequency A GPS facility which uses both transmitted channels,
L1 and the encrypted L2. A dual-frequency system
has increased reliability at times of high Iononspheric
interference resulting from sunspot activity

Duplex A term often used to describe a DP system having

two computers to provide redundancy

Dynamic Positioning The ability of a vessel to maintain her position and

heading automatically, exclusively by means of active
thrust. The shipboard system which enables this
ability

Emergency Exit Strategy -planned route away from

hazards within any working area or worksite

Environmental reference systems Sensors which provide feedback data on wind speed
and direction, also vessel attitude and motions

Equipment Class A measure of the level of overall redundancy within

the DP capability of the vessel. Described in IMO
MSC Circ 645, three Equipment Classes are
described, Classes 1, 2 and 3; the higher the number
the greater the level of redundancy

Escape route An essential component of any DP operation. An

identified and defined route away from any hazards or
nearby structures

Exclusion zone (platform) A defined area around an offshore structure or

complex within which vessel and other operations are
within the jurisdiction of the Offshore Installation
Manager (OIM). Commonly this exclusion zone is set
at 500m but may vary

External force Any force, measured or unknown, which affects the

positioning or heading control of the vessel. Typical
external forces include those caused by wind, waves,
current, hawser tension, cable tension

False eastings Within the UTM (Universal Transverse Mercator)

projection and co-ordinate system, an artificial value
of 500,000m added to easting values to allow for all
eastings within a zone to have positive values

Fanbeam An optical Laser radar position reference system

Feedback Any data measured by sensor which is monitored by

the DP system and acted upon within its
computations

Fixed Azimuth mode A function relating to Azimuth thrusters or Azipod

units. In Fixed Azimuth mode these units individually
or wholly take up a pre-determined azimuth
configuration

Fixed pitch (f.p.) propeller A propeller in which the pitch is non-controllable, the
magnitude and direction of thrust from a f.p. propeller

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 is controlled purely by varying the rpm and rotational
direction

FMCW Frequency-modulated continuous wave. A technique

used in short-range radar systems

FMEA Failure Mode Effects Analysis. A document

containing a detailed description of the vessels DP
and associated systems and the results of failures
within those systems. The FMEA document is
provided subsequent to a thorough audit, and is often

notation for DP Equipment Class. The FMEA

document must be revalidated at regular intervals

Follow-Sub/Follow Target A function often installed within the DP system

enabling a vessel to maintain position relative to a
moving target, usually an underwater vehicle

Gain A factor within the DP system which determines the

magnitude of power applied in response to position or
heading deviation. Normally an operator-selectable
function, Low Gain allows positioning using less
power and thrust, economising in fuel consumption,
while a High gain setting will use greater power and
thrust values which may result in more accurate
positioning

Gallileo The European satellite navigation system

Glonass The Russian global navigation satellite system, the

equivalent to the American GPS

GNSS Global Navigation Satellite System. Any satellite-

based navigation system having global coverage.
Examples of GNSS include the American GPS, the
Russian Glonass, and the European Galileo system.
These systems may be used in combination, and this
combination may also be referred to as GNSS.

Guidelines for vessels with Dynamic Positioning Systems (IMO MSC C 645)

A document published by the International Maritime

Organisation which details the requirements for the
provision of DP and associated systems, and details
the levels of redundancy within Equipmnt Class

Gyro compass A mechanical device providing directional and

heading data independent of magnetic field

Hawser tension feedback A facility installed in vessels such as cable-lay ships,

and offtake tankers in which hawser or cable tension
is monitored and provides an external force feedback
to the DP and other systems

HDOP Horizontal Dilution of Precision, a measure of

accuracy in the GPS and DGPS systems

Heading priority A facility within the positioning algorithm of a vessel

DP system allowing heading deviation to be given

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 greater weighting than vessel position. Thus, if
position and heading excursions occur
simultaneously, the system will prioritise the reduction

prior -selectable facility

Heave Vertical bodily movement of the vessel. One of the six

freedoms of movement of a vessel

HPR Hydroacoustic Position Reference

Hub Within the DGPS, the master reference station within

a network of reference stations

IMO The International Maritime Organisation

IMO MSC Circ 645

Maritime Safety Committee of the International

Maritime Organisation. The document outlines
standards for dynamic positioning systems and levels
of redundancy

Independent Joystick control A control facility in a DP-capable vessel fully

independent of the DP system, allowing multiple
thrusters to be controlled manually from a single
joystick

INS Inertial navigation system

Ionospheric delay additional satellite signal time delay resulting from

refraction at ionospheric altitudes. One of the factors
reducing the accuracy of GPS data

Joystick mode A facility within the DP system whereby the vessel

may be controlled in position and heading through a

mode

Kalman filter An algorithm which, in a DP system is utilised to

generate an optimum estimate of position from
incoming data signals, filtering noisy and intermittent
data, and applying weighting values to individual
signal data streams

Latency

LBL Long Baseline Hydroacoustic Position Reference. A

system incorporating a single hull-mounted
interrogating transducer obtaining range data from a
calibrated array of sea-floor transponders

LUSBL The Sonardyne Long and Ultrashort Baseline HPR

system

Manual DP

Mathematical model A software algorithm containing all vessel positioning

characteristics

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Median Test A quality test continually applied to incoming
positional data when three or more position reference
systems are being monitored. The median test
enables the rejection of a drifting PRS by means of

Minimum Power Heading

Mobile transponder An acoustic device which might be located on an

ROV or any other moving vehicle. Normally used to
track the vehicle, but may have an input to such DP
functions as Target Follow, or Follow-Sub

Model Control

continue to position the vessel subsequent to the loss

of all position reference. The quality of the positioning
will deteriorate with time subsequent to PRS loss. A
similar facility applies to heading control in respect to
loss of heading data feedback

Motion Reference Unit Motion reference unit or MRU is a device providing

data on vessel attitude, motions and accelerations

Multipath A term related to position-reference systems, where

the signal path is deflected or reflected by structure,
resulting in erroneous data determination . Reception
of Multipath data is particularly problematic in
systems using a signal-ranging technique such as
GPS, or USBL underwater acoustics.

Operational radius

Pipe tension feedback A facility often installed in pipelay vessels.

Pitch Vessel movement, a rotation about an athwartships

axis. One of the six freedoms of movement; one
which is monitored but not controlled

Position Reference systems Any of the numerous navigational systems providing

positional feedback for use within the DP system

Power Management A computerised system designed to ensure

continuous reliable power supplies to essential users.
Typically a Power Management System (PMS) will
monitor loads and available power, providing load
shedding function, and blackout prevention.

Pre-DP checklist A checklist intended to be completed immediately

prior to transferring the vessel from conventional
navigation to DP control. There may be separate Pre-
DP checklists for bridge, and Machinery Control
Room.

Pre-operational checklist A checklist intended to be completed once the vessel

is established under DP control, before commencing
her operational tasks.

Prohibited azimuth zone (thruster)

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Propeller Any propulsional device (other than a jet thruster)
intended to provide thrust. Many types of propeller
are in use, some incorporated into thruster units.

Push-pull mode A propulsional DP mode relating to a twin-screw

vessel. One propeller runs continually ahead, the
other astern. The required surge force is obtained by
varying the rpm and/or pitch values of the two units.

Radascan A short-range position reference system using FMCW

(Frequency modulated continuous wave) radar
techniques to obtain position information.

RADius A short-range position reference system using FMCW

(Frequency modulated continuous wave) radar
techniques to obtain position information. The active
unit is an Interrogator located aboard the vessel,
communicating with transponders typically located on
platform structures.

Reaction radius/Operational radius A term used by some DP system manufacturers to

describe the radius of a circle defining the distance a
mobile target may move without triggering a vessel
low-

Redundancy
ability to withstand the loss or failure of any
component within the DP system without loss of
position and/or heading control

Reference station Within the DGPS position reference system,

reference stations located at known locations ashore
provide differential correction data to user vessels
within range

Responder A form of transponder where the interrogating signal

is conducted by hard-wire rather than through water

Riser Angle mode The mode by which DP control is exercised in deep

water drilling applications

Riser angle sensor A sensor in use in deep water drillships. Installed at

the wellhead it monitors the directional differential
angle between the wellhead structure and the
adjacent lower section of the riser. This data is of vital
importance to the positioning of the drillship

Roll Vessel angular rotation about a longitudinal axis. One

of the six freedoms of movement of a vessel. Not
controlled by DP but monitored

ROV Remotely Operated Vehicle, usually an unmanned

submersible

SBL Short Baseline HPR

Sea current In reality, sea current is the horizontal movement of

water (set, or direction, and rate) experienced by the

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 vessel. Since this value cannot be measured directly
from the vessel, the DP system will calculate a value
from mathematical modelling. The displayed value of

relied upon. Some DP system manufacturers do not

refer to this re

Sea force The term adopted by some DP system manufacturers

to describe the residual vector sometimes referred to

set-point The Desired Value of any controlled variable. i.e. Set

Point heading, and Set Point position

Settling time The amount of time necessary for a DP system to

obtain optimum Position and Heading keeping
performance. This amount of time is related to the
speed at which the mathematical model builds.

Simplex A non-redundant DP system, single computer

Single point failure Any component within a DP system, the failure of

which would cause a loss of position and/or heading
keeping capability. Essentially, a Single Point Failure
is a failure of the system redundancy

SSBL See USBL

STCW An IMO (International Maritime Organisation) protocol

on the Standards of Training, Competence and
Watchkeeping for those taking charge of ships

Surge Vessel movement in the fore-and-aft direction. One of

the six freedoms of movement, one which is
controlled by the DP system

Sway Vessel movement in the transverse direction. One of

the six freedoms of movement, one which is
controlled by the DP system

Taut Wire A position reference system consisting of sensors

detecting the length and angles of a tensioned wire
leading to a weight on the sea bed.

Thrust allocation/Thruster Allocation A term used to describe the algorithm which

determines individual thruster and propeller outputs
from an overall positioning and heading vector
demand

Thruster A term used to describe any propulsion unit other

Thruster Bias A function which, when selected by the DP Operator,

enables two thrusters to work in opposition. This may
be enabled to prevent excessive azimuth hunting in
calm conditions, or to artificially increase power loads

Thruster Exclusion Zone A term used to describe an azimuth sector, or range

of azimuth sectors in which thrust output from an
azimuth thrusters is prohibited or limited. Various

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 terms may be used to describe this function, e.g.

limits of the sector(s) may be selected and/or

adjusted by the DP Operator, or they may be
permanently applied. Also, there may be a control
function to enable/disable this function. See also

Touchdown point When laying a cable or pipe, the touchdown point is

the point on the sea floor on which the pipe or cable
contacts the sea floor

Track Follow/Autotrack A DP function allowing the vessel to follow a

predetermined track via waypoints, details of which
are input by the DP Operator

Transducer The acoustic probe on the vessel's bottom used as

part of the HPR system

Transponder A sea floor or equipment-mounted beacon used with

HPR. A transponder normally functions in an
interrogation-reply mode, being triggered by acoustic
interrogation through-water, and replying through-
water

Triplex A term often used to describe a DP system having

three computers providing redundancy through voting
logic

Tunnel thrusters Propulsion units consisting of propellers located at

the bow or stern of the vessel, able to thrust in an
athwartships direction, and located in a tunnel
structure within the hull

Umbilical The tether connecting a diver to the diving bell

carrying air supply, hot water and communications.
Also any similar tether used with an ROV or any
underwater vehicle

UPS Uninterruptible Power Supply. A low-voltage system

installed to ensure secure power supply to DP control
elements and other vital functions. Normally features
a battery back-up facility

USBL Ultra Short Baseline, a principle used with HPR.

Synonymous with SSBL (Super-short baseline). An
acoustic position reference technique involving two-
way communication between a hull-mounted
transducer and a transponder located on the sea floor
or other underwater fixed location

UTM The Universal Transverse Mercator projection and

co-ordinate system
position is described by Northing and Easting co-
ordinates in metres.

UTM zone One of the 60 zones, each covering 6° of longitude

used within the UTM co-ordinate system. Variations
of the UTM system exist in some localities.

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Vertical Reference Sensors Vertical Reference Sensor, a device giving accurate
values for vessel Roll and Pitch values

Weathervane/Minimum power heading mode

WGS84 The World Geodetic Spheroid upon which the GPS

system is based

Wind Feed Forward/wind compensation
A facility in which rapid changes in wind strength are
processed immediately allowing for immediate
thruster compensation in gusting conditions. The
configuration of this function varies between different
DP system manufacturers, and different function
naming may be found.

Windsensor Any device enabling the detection of wind strength

and direction, transmitting data to remote displays
and equipment.

Worst Case Failure A system failure resulting in the greatest functional

degradation within the system.

Yaw Vessel rotation about the vertical axis; Change of

heading.

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