K-Pos Operator Manual

Kongsberg K-Pos DP (OS)Dynamic Positioning System

Operator ManualRelease 7.0

301027/EOctober 2007

Document history

Document number: 301027

Rev. A October 2006 This version describes the operation of the K-Pos DP at basissoftware release 7.0.1.

Rev. B November 2006 Minor errors corrected.

Rev. C December 2006 Text Entity corrected.

Rev. D July 2007 This version describes the operation of the K-Pos DP at basissoftware release 7.0.3.

Rev. E October 2007 Minor errors corrected.

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

NoteThe information contained in this document remains the sole property of Kongsberg Maritime AS. Nopart of this document may be copied or reproduced in any form or by any means, and the informationcontained within it is not to be communicated to a third party, without the prior written consent ofKongsberg Maritime AS.Kongsberg Maritime AS endeavours to ensure that all information in this document is correct and fairlystated, but does not accept liability for any errors or omissions.

WarningThe equipment to which this manual applies must only be used for the purpose for which it wasdesigned. 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 operateor work on the equipment.Kongsberg Maritime disclaims any responsibility for damage or injury caused by improper installation,use or maintenance of the equipment.

CommentsTo assist us in making improvements to the product and to this manual, we welcome comments andconstructive criticism.e-mail: [email protected]

P.O.Box 483

N-3601 Kongsberg,

Norway

Kongsberg Maritime AS

Telephone: +47 32 28 50 00

Telefax: +47 32 28 50 10

Service: +47 815 35 355

www.kongsberg.com

Operator Manual

Table of contents

Glossary..................................................................................................................131 K-POS DP SYSTEM THEORY............................................. 191.1 The K-Pos DP system.............................................................................................191.2 Basic forces and motions........................................................................................191.3 K-Pos DP system principles ...................................................................................21

1.3.1 The Extended Kalman Filter ........................................................................ 211.3.3 The Controller ............................................................................................ 241.3.3.2 High Precision and Relaxed Control ........................................................ 241.3.3.3 Green control......................................................................................... 251.3.5 Thruster allocation ...................................................................................... 27

2 USER INTERFACE ............................................................ 292.1 Operator station ......................................................................................................292.2 Operator panel ........................................................................................................30

2.2.1 Push buttons ............................................................................................... 312.2.1.1 Modes ................................................................................................... 312.2.1.2 Controls ................................................................................................ 322.2.1.3 Views.................................................................................................... 322.2.1.4 Thrusters ............................................................................................... 322.2.1.5 Sensors.................................................................................................. 322.2.1.6 Command.............................................................................................. 322.2.1.7 Alarms .................................................................................................. 322.2.2 Input .......................................................................................................... 322.2.3 Trackball .................................................................................................... 332.2.4 Joystick...................................................................................................... 342.2.5 Heading wheel............................................................................................ 34

2.3 Display layout.........................................................................................................352.3.1 Title bar ..................................................................................................... 362.3.2 Menu bar.................................................................................................... 362.3.2.1 Active and unavailable commands .......................................................... 372.3.3 Message line............................................................................................... 372.3.4 Performance area ........................................................................................ 382.3.5 Working areas............................................................................................. 382.3.6 Status line .................................................................................................. 382.3.7 Status bar ................................................................................................... 382.3.8 Dialog boxes .............................................................................................. 402.3.9 Entering numeric values .............................................................................. 422.3.9.1 Enabling the Enter a New Numeric Value dialog box................................ 422.3.9.2 Using the Enter a New Numeric Value dialog box .................................... 442.3.9.3 Overview of the keys in the Enter a New Numeric Value dialog box........... 45

301027/E 3

Kongsberg K-Pos DP (OS)

2.3.10 Input validation of entered values................................................................. 452.4 Display views .........................................................................................................46

2.4.1 Orientation of the OS and effect on display views ......................................... 462.4.2 Tooltip/hotspot cursor and change of cursor image ........................................ 462.4.3 Available views .......................................................................................... 472.4.4 Selecting a display view .............................................................................. 482.4.5 View control dialog boxes ........................................................................... 492.4.6 Zooming .................................................................................................... 502.4.7 Preselecting views ...................................................................................... 50

2.5 Main menus ............................................................................................................522.5.1 Menu bar.................................................................................................... 522.5.2 System menu .............................................................................................. 532.5.3 View menu ................................................................................................. 542.5.4 Sensors menu ............................................................................................. 542.5.5 Thruster menu ............................................................................................ 552.5.6 Joystick menu............................................................................................. 552.5.7 AutoPos menu ............................................................................................ 562.5.8 Help menu.................................................................................................. 57

3 SYSTEM SETTINGS.......................................................... 583.1 Changing user.........................................................................................................583.2 Printing the display picture.....................................................................................593.3 System report..........................................................................................................593.4 Panel Light Configuration dialog box ....................................................................60

3.4.1 Dimming level............................................................................................ 603.4.2 Lamp test ................................................................................................... 61

3.5 Display Units dialog box........................................................................................623.5.1 Selecting the set of display units to use......................................................... 623.5.2 Editing Display Units.................................................................................. 633.5.3 Additional information................................................................................ 643.5.4 Vessel and sea current speed ........................................................................ 643.5.5 Wind, waves and sea current direction.......................................................... 653.5.6 Resetting the display units ........................................................................... 65

3.6 System date and time..............................................................................................653.6.1 Date and time ............................................................................................. 653.6.2 Time zone .................................................................................................. 66

3.7 Set palette (display colours) ...................................................................................663.7.1 Changing the display palette on Operator Stations that are not set to have

an independent palette selection................................................................... 663.7.2 Changing the display palette on a single Operator Station.............................. 67

3.8 Alarm Limits dialog box ........................................................................................673.8.1 Position page .............................................................................................. 673.8.2 VRS page................................................................................................... 69

4 301027/E

Operator Manual

3.9 Controller mode and gain level selection ...............................................................703.9.1 Gain Level for High Precision and Relaxed Controller Mode......................... 733.9.2 Display presentation of Controller Mode ...................................................... 733.9.2.1 High Precision and Relaxed .................................................................... 733.9.2.2 Green .................................................................................................... 74

3.10 Quick model update................................................................................................753.10.1 Quick Model dialog box.............................................................................. 76

3.11 Rotation center for automatic control.....................................................................773.11.1 Additional information................................................................................ 79

4 JOYSTICK ....................................................................... 804.1 Calibrating the joystick ..........................................................................................80

4.1.1 Calibration procedure.................................................................................. 814.2 Joystick settings......................................................................................................814.3 Rotation center for joystick manoeuvring ..............................................................84

4.3.1 Rotation Center dialog box .......................................................................... 86

5 MESSAGE SYSTEM........................................................... 885.1 System diagnostics .................................................................................................885.2 Operational checks .................................................................................................88

5.2.1 Audible and visual indications ..................................................................... 895.3 Message priority .....................................................................................................895.4 Presentation of messages........................................................................................90

5.4.1 Defining the time span for the Historic Event Page........................................ 935.5 Alarm states ............................................................................................................945.6 Acknowledging messages ......................................................................................95

5.6.1 Silence button............................................................................................. 965.7 Alarm lamps ...........................................................................................................96

5.7.1 Indications of errors related to the ALARMS button group ............................. 975.8 Messages on the printer ..........................................................................................98

5.8.1 Event Printer dialog box.............................................................................. 985.9 Message explanations.............................................................................................99

5.9.1 Contents..................................................................................................... 995.9.2 Search...................................................................................................... 1005.9.3 Displayed explanation ............................................................................... 1015.9.3.1 Back link ............................................................................................. 1025.9.4 Menu bar.................................................................................................. 1025.9.5 Printing message explanations ................................................................... 103

5.10 Operator advice messages ....................................................................................1046 STARTING OPERATIONS ............................................... 1066.1 System start-up/shut-down and OS stop/restart ...................................................106

6.1.1 Stop/Restart dialog box ............................................................................. 1066.1.2 Restart the OS using the Windows Security dialog box................................ 108

301027/E 5


6.2 Logon Configuration dialog box ..........................................................................1086.3 Command transfer ................................................................................................109

6.3.1 Taking command .......................................................................................1106.3.2 Giving command .......................................................................................110

6.4 Command Control dialog box .............................................................................. 1116.4.1 Command groups.......................................................................................1126.4.1.1 Thr_Propulsion .....................................................................................1126.4.1.2 Thr_Propulsion(Sim).............................................................................1126.4.2 DP-OS page ..............................................................................................1126.4.3 Overview page ..........................................................................................1136.4.4 Give page..................................................................................................1146.4.5 Command Groups......................................................................................1156.4.6 Controls and indicators...............................................................................1156.4.7 Taking or giving command of propulsion control .........................................117

6.5 Connecting to a controller PS group .................................................................... 1187 CONTROLLER PROCESS STATIONS................................ 1197.1 Resetting controller process stations .................................................................... 119

7.1.1 Resetting the controller PS in a single-computer system ...............................1197.1.2 Resetting one controller PS in a dual or triple redundant system....................1197.1.3 Resetting all controller PSs in a dual or triple redundant system....................119

7.2 Redundant systems ...............................................................................................1207.2.1 Error objects............................................................................................. 1217.2.2 Dual redundant system .............................................................................. 1217.2.2.1 Automatic switch-over to the Offline PS ................................................ 1227.2.2.2 Resetting after an automatic switch-over................................................ 1227.2.3 Triple redundant system ............................................................................ 1237.2.4 Redundant Stations dialog box................................................................... 124

8 SENSORS ...................................................................... 1288.1 Gyrocompasses.....................................................................................................128

8.1.1 Sensors dialog box - Gyro page ................................................................. 1288.1.2 Gyro Deviation dialog box ........................................................................ 1298.1.2.1 Additional information ......................................................................... 1318.1.3 Gyro status lamp....................................................................................... 1318.1.4 Displayed heading information .................................................................. 1318.1.5 Rejection of heading measurements ........................................................... 1318.1.6 Faulty gyrocompasses ............................................................................... 1328.1.7 Heading dropout ....................................................................................... 133

8.2 Wind sensors.........................................................................................................1338.2.1 Sensors dialog box - Wind page ................................................................. 1348.2.2 Wind status lamp ...................................................................................... 1358.2.3 Displayed wind information ...................................................................... 1368.2.4 Faulty wind sensors .................................................................................. 136

6 301027/E

Operator Manual

8.2.5 Rejection of faulty wind data ..................................................................... 1378.2.6 Operating without wind sensor input .......................................................... 137

8.3 Vertical reference sensors (VRS) .........................................................................1388.3.1 Sensors dialog box - VRS page.................................................................. 1388.3.2 VRS status lamp ....................................................................................... 1398.3.3 Displayed VRS information....................................................................... 1408.3.4 Faulty VRS .............................................................................................. 140

8.4 Speed sensors .......................................................................................................1408.4.1 Sensors dialog box - Speed page ................................................................ 1418.4.2 Displayed speed information ..................................................................... 143

8.5 Draught sensors ....................................................................................................1438.5.1 Sensors dialog box - Draught page ............................................................. 143

8.6 Rate Of Turn sensors ............................................................................................1458.6.1 Sensors dialog box - Rate Of Turn page...................................................... 145

9 POSITION INFORMATION............................................. 1479.1 Handling position information .............................................................................1479.2 Position Presentation dialog box ..........................................................................148

9.2.1 Additional information.............................................................................. 1519.3 Datum Details dialog box.....................................................................................1519.4 Local N/E Properties dialog box ..........................................................................152

9.4.1 Additional information.............................................................................. 1539.5 UTM Properties dialog box..................................................................................1539.6 State plane zone....................................................................................................1549.7 Methods for enabling position-reference systems................................................1559.8 Panel buttons ........................................................................................................1559.9 Reference System Settings dialog box .................................................................1559.10 Reference System dialog box ...............................................................................159

9.10.1 Enable page.............................................................................................. 1599.10.2 Weight page ............................................................................................. 1609.10.3 Validation page......................................................................................... 161

9.11 Reference System Properties dialog box..............................................................1639.11.1 Additional information.............................................................................. 1649.11.2 UTM Properties ........................................................................................ 1649.11.3 Quality Filter Actions................................................................................ 165

9.12 Coordinate systems...............................................................................................1669.12.1 Global and local position-reference systems ............................................... 1669.12.2 System datum........................................................................................... 1679.12.3 The reference origin.................................................................................. 167

9.13 Tests on position measurements ...........................................................................1689.13.1 Standard deviation of position measurements.............................................. 1689.13.2 Freeze test ................................................................................................ 1689.13.3 Variance, weight and the Variance test........................................................ 169

301027/E 7


9.13.4 Prediction test........................................................................................... 1699.13.5 Divergence test ......................................................................................... 1709.13.6 Median test............................................................................................... 171

9.14 Procedures for enabling position-reference systems ............................................1749.14.1 Enabling the first position-reference system................................................ 1749.14.2 Enabling other position-reference systems .................................................. 174

9.15 Changing the reference origin ..............................................................................1759.16 Position dropout ...................................................................................................17610 MAIN MODES AND OPERATING PROCEDURES ............... 17810.1 Standby mode .......................................................................................................178

10.1.1 Returning to Standby mode/manual levers .................................................. 17810.2 Joystick mode .......................................................................................................179

10.2.1 From Standby mode to Joystick mode ........................................................ 17910.2.2 Joystick control of position and heading ..................................................... 18010.2.3 Position and heading information............................................................... 18010.2.4 Joystick electrical failure ........................................................................... 18110.2.5 Mixed joystick/auto modes........................................................................ 18110.2.6 Joystick mode with automatic heading control ............................................ 18110.2.6.1 Selecting automatic heading control ...................................................... 18210.2.6.2 Returning to joystick heading control .................................................... 18210.2.7 Joystick mode with automatic position control in both surge and sway........... 18210.2.7.1 Selecting automatic position control ...................................................... 18310.2.7.2 Returning to joystick position control .................................................... 18310.2.8 Joystick mode with automatic stabilisation ................................................. 18310.2.8.1 Selecting automatic stabilisation ........................................................... 18410.2.8.2 Returning to joystick control ................................................................ 184

10.3 Auto Position mode ..............................................................................................18410.3.1 From Joystick mode to Auto Position mode................................................ 185

11 CHANGING THE POSITION SETPOINT ........................... 18711.1 Stopping a change of position ..............................................................................18711.2 Marking a new position setpoint on the Posplot view..........................................18711.3 Position R/B dialog box (range/bearing)..............................................................18811.4 Position Inc dialog box (incremental) ..................................................................18811.5 Position dialog box...............................................................................................189

11.5.1 Inc page ................................................................................................... 18911.5.1.1 Additional information ......................................................................... 19011.5.2 R/B page .................................................................................................. 19011.5.3 Abs page .................................................................................................. 19111.5.4 Speed page ............................................................................................... 19211.5.4.1 Additional information ......................................................................... 193

11.6 Speed Setpoint dialog box....................................................................................19311.6.1 Additional information.............................................................................. 194

8 301027/E

Operator Manual

11.7 Acceleration/Retardation Settings dialog box......................................................19412 CHANGING THE HEADING SETPOINT ............................ 19712.1 Stopping a change of heading ..............................................................................19712.2 Marking a new heading setpoint on the Posplot view..........................................19712.3 Heading Wheel and its associated buttons ...........................................................19812.4 Heading dialog box ..............................................................................................199

12.4.1 Heading page............................................................................................ 19912.4.1.1 Additional information ......................................................................... 20112.4.2 Rate Of Turn page..................................................................................... 20112.4.2.1 Additional information ......................................................................... 201

12.5 Acceleration/retardation factors in the yaw axis ..................................................20213 THRUSTERS .................................................................. 20313.1 Enabling thrusters.................................................................................................203

13.1.1 Thruster Enable dialog box........................................................................ 20313.2 Automatic thruster start (for IAS deliveries)........................................................205

13.2.1 Automatic Thruster Start dialog box........................................................... 20513.3 Thruster Allocation dialog box.............................................................................206

13.3.1 Additional information.............................................................................. 20913.4 Allocation Settings dialog box .............................................................................21013.5 Rudder/Nozzle control ......................................................................................... 21113.6 Thruster biasing.................................................................................................... 21113.7 Thruster Biasing dialog box .................................................................................212

13.7.1 Manual selection of thruster biasing ........................................................... 21213.7.2 Automatically changing bias available ....................................................... 21313.7.3 Turn factor ............................................................................................... 21813.7.4 Angle factor ............................................................................................. 21813.7.5 Inwards .................................................................................................... 219

13.8 Thruster Combinator Control Settings dialog box ...............................................22113.9 Thruster Run-in dialog box ..................................................................................22214 POWER SYSTEM ............................................................ 22314.1 Power monitoring .................................................................................................22314.2 Power load monitoring and blackout prevention .................................................22315 SYSTEM STATUS INFORMATION ................................... 22615.1 Remote diagnostics...............................................................................................226

15.1.1 pcAnywhere Waiting... dialog box ............................................................. 22815.2 Printing system status data ...................................................................................22815.3 Displaying software information..........................................................................23115.4 Interface to CyberSea ...........................................................................................23316 SYSTEM STATUS MONITORING ..................................... 23516.1 Introduction ..........................................................................................................235

301027/E 9


16.2 System architecture ..............................................................................................23516.2.1 Operator stations....................................................................................... 23616.2.2 Process stations ........................................................................................ 23616.2.2.1 Redundancy......................................................................................... 23616.2.2.2 WinPS................................................................................................. 23716.2.2.3 PS names and numbers ......................................................................... 23716.2.3 IO system................................................................................................. 23716.2.4 Monitoring functions................................................................................. 238

16.3 Equipment ............................................................................................................23916.3.1 PS page.................................................................................................... 23916.3.2 PS Redundancy page................................................................................. 24116.3.3 OS/HS page.............................................................................................. 24316.3.4 Event Printer page .................................................................................... 24416.3.5 Net Status................................................................................................. 24516.3.6 Print Image............................................................................................... 246

16.4 Station Explorer....................................................................................................24716.4.1 PS tree structure........................................................................................ 24916.4.2 Alarm status indicators.............................................................................. 24916.4.3 Hotspots................................................................................................... 24916.4.4 Acknowledging PS system alarms.............................................................. 250

16.5 IO Manager...........................................................................................................25116.5.1 IO Configurator ........................................................................................ 252

16.6 RBUS IO Image ...................................................................................................25216.6.1 Overview level ......................................................................................... 25316.6.2 Detailed level ........................................................................................... 254

16.7 IO Terminal Block................................................................................................25416.7.1 Shortcut menu .......................................................................................... 25716.7.2 Signal Conditioning elements .................................................................... 258

16.8 IO Point Browser..................................................................................................25916.8.1 IO Point Browser dialog box ..................................................................... 26016.8.2 Shortcut menu .......................................................................................... 261

16.9 Properties DpPs Serial port .............................................................................26316.9.1 SerPort page ............................................................................................. 26416.9.2 Int status page........................................................................................... 265

16.10Resetting a disabled serial line .............................................................................26617 BUILT-IN TRAINER ....................................................... 26817.1 Trainer functions ..................................................................................................26817.2 Using the trainer ...................................................................................................26817.3 Setting the start position for the next session .......................................................27017.4 Leaving the trainer................................................................................................27018 DP ONLINE CONSEQUENCE ANALYSIS .......................... 27118.1 DP online consequence analysis...........................................................................271

10 301027/E

Operator Manual

18.2 Selecting the DP class ..........................................................................................27218.3 Consequence analysis status messages.................................................................27218.4 Consequence analysis alarm messages.................................................................27219 DISPLAY VIEWS............................................................ 27419.1 Deviation view .....................................................................................................274

19.1.1 Position and heading ................................................................................. 27419.1.2 Position and heading deviation .................................................................. 27519.1.3 View controls ........................................................................................... 278

19.2 Diesels view .........................................................................................................27819.3 General view.........................................................................................................281

19.3.1 Position, heading and speed....................................................................... 28119.3.2 Position and heading deviation .................................................................. 28219.3.3 View controls ........................................................................................... 283

19.4 Joystick view ........................................................................................................28319.5 LTW view.............................................................................................................287

19.5.1 View controls ........................................................................................... 29119.6 Numeric view .......................................................................................................293

19.6.1 View controls ........................................................................................... 29419.7 Performance area ..................................................................................................29519.8 Posplot view .........................................................................................................300

19.8.1 View controls ........................................................................................... 30619.8.1.1 Mode page........................................................................................... 30619.8.1.2 Show page........................................................................................... 30719.8.1.3 Chart page ........................................................................................... 30819.8.1.4 Grid page ............................................................................................ 30819.8.1.5 Range page.......................................................................................... 30919.8.1.6 Trace page ........................................................................................... 31019.8.2 EBL function.............................................................................................31119.8.3 Panning function....................................................................................... 312

19.9 Power view ...........................................................................................................31419.9.1 View controls ........................................................................................... 316

19.10Power Consumption view ....................................................................................31819.11Refsys view ..........................................................................................................319

19.11.1 View controls ........................................................................................... 32419.11.1.1 Mode page........................................................................................... 32519.11.1.2 Grid page ............................................................................................ 32619.11.1.3 Range page.......................................................................................... 327

19.12Refsys Status view................................................................................................32719.13Rotation Centers view ..........................................................................................32819.14Sensors view.........................................................................................................329

19.14.1 View controls ........................................................................................... 33219.15Thruster views ......................................................................................................334

301027/E 11


19.15.1 Thruster main view ................................................................................... 33519.15.2 Tunnel thruster view ................................................................................. 33819.15.3 Azimuth thruster view............................................................................... 34119.15.4 Propeller/rudder view................................................................................ 34319.15.5 Subview controls ...................................................................................... 34519.15.6 Setpoint/feedback view ............................................................................. 34719.15.7 Forces view .............................................................................................. 348

19.16Trends view ..........................................................................................................35119.16.1 View controls ........................................................................................... 354

12 301027/E

Operator Manual

Glossary

Abbreviations

ARP Alternative Rotation PointAP Autopilot (a device for automatic heading control)BIST Built-In Self TestBITE Built-In Test EquipmentcPos Kongsberg Compact Dynamic PositioningCCW Counter ClockwiseCG Centre of GravityCOG Course Over GroundCW ClockwiseDGPS Differential GPSDP Dynamic PositioningDPC DP ControllerDPM Dynamic Positioning and Position MooringDQI Differential Quality IndicatorEBL Electronic Bearing LineGPS Global Positioning SystemHDOP Horizontal Dilution Of PrecisionHPR Hydroacoustic Position ReferenceIAS Integrated Automation SystemI/O Input/OutputIMO International Maritime OrganisationKM Kongsberg MaritimeLTW Light-weight Taut WireMOB MOBile transponderOS Operator StationOT Operator TerminalPM Position MooringPMS Power Management SystemPS Process StationRIO Remote Input - Outputrms root mean squareROT Rate Of TurnROV Remotely Operated Vehicle

301027/E 13


RPM Revolutions Per MinuteUPS Uninterruptible Power SupplyUTC Universal Time CoordinatedUTM Universal Transverse MercatorVRS Vertical Reference SensorWGS World Geodetic SystemWOP Wheel Over PointWP WayPointWT Wing Terminal

14 301027/E

Operator Manual

General terms

Apparent wind See Relative wind.Bearing The horizontal direction of one terrestrial point from another,

expressed as the angular distance from a reference direction,clockwise through 360.

Blackoutprevention

A method of preventing a power failure due to overloading of thesupply generators.

Cartesiancoordinatesystem

A coordinate system where the axes are mutually-perpendicularstraight lines.

Commandgroup

A group of functions that reflect the way the system will operatefor a specific process area, for example, Propulsion and PropulsionSimulation.

Controllergroup

A group of one or more controller process stations.

Course The horizontal direction in which a vessel is steered or is intendedto be steered, expressed as angular distance from north, usuallyfrom 000 at north, clockwise through 360. Strictly, this termapplies to direction through the water, not the direction intendedto be made good over the ground. Differs from Heading.

Crab angle The angle between the vessel heading and the track.Cross-trackerror

The distance from the vessels present position to the closest pointon the track.

Datum Mathematical description of the shape of the earth (represented byflattening and semi-major axis as well as the origin and orientationof the coordinate systems used to map the earth).

Dead reckoning The process of determining the position of a vessel at any instantby applying to the last well-determined position the run that hassince been made, based on the recent history of speed and headingmeasurements.

Destination The immediate geographic point of interest to which a vesselis navigating. It may be the next waypoint along a route ofwaypoints or the final destination of a voyage.

Feedback Signals returned from the process (vessel) and used as inputsignals to the Vessel Model.

Gyrocompass A compass having one or more gyroscopes as the directiveelement, and which is north-seeking. Its operation depends on fournatural phenomena: gyroscopic inertia, gyroscopic precession,the earths rotation and gravity.

Heading The horizontal direction in which a vessel actually points orheads at any instant, expressed in angular units from a referencedirection, normally true north, usually from 0005 at the referencedirection clockwise through 360. Differs from Course.

301027/E 15


InternationalMaritimeOrganisation

Formally called IMCO, the IMO is the specialised agency of theUnited Nations responsible for maritime safety and efficiencyof navigation.

Kalman filter The Kalman filter is a set of mathematical equations that providesan efficient computational (recursive) solution of the least-squaresmethod. The filter is very powerful in several aspects; it supportsestimations of past, present and even future states, and it can alsodo so, even when the precise nature of the modelled system isunknown.

Leg The straight line between two waypoints.Log An instrument for measuring the speed or distance or both

travelled by a vessel.Median value A number dividing the higher half of a sample or population from

the lower half, i.e. the middle number.Navigation leg The leg of a voyage on which the vessel is currently travelling.Process Station One Central Processing Unit (CPU) plus I/O interfaces, possibly

shared with other CPUs in redundant configurations. A physicalPS may be single, part of a dual-redundant-physical PS or partof a triple-redundant-physical PS. The PS utilises RCU, SBC orPC hardware.

Reference origin The reference point of the first position-reference system that isselected and accepted for use with the system. The origin in theinternal coordinate system.

Relative bearing The bearing of an object relative to the vessels heading.Relative wind The speed and relative direction from which the wind appears to

blow with reference to the moving vessel.Route A planned course of travel, usually composed of more than one

navigation leg.StandardDeviation

The square root of the Variance.

Surge Vessel movement in the fore-and-aft direction.Sway Vessel movement in the transverse direction.Thruster In this document, this is used as a general term for any element of

the vessels propulsion system, such as an azimuth thruster, tunnelthruster, main propulsion or rudder.

Track The intended or desired horizontal direction of travel with respectto the earth.

Transponder In this document, this is the physical reference of aposition-reference system. For example: for an HPR system thismeans any deployed transponder; for an Artemis system, theFixed Antenna unit/beacon; for a Taut Wire system, the depressorweight.

True bearing Bearing relative to true north.

16 301027/E

Operator Manual

Unavailable Describes a status indication or entry field that is shown butappears dimmed. An unavailable entry field cannot be changed.

Variance A measure of the expected deviation from the mean. The squareroot of the variance is the standard deviation.

Vessel ReferenceModel

A mathematical model of the vessel which makes it possible tosimulate vessel movements and behaviour in the horizontal plane(surge, sway and yaw).

Waypoint A defined position or reference point on a track.Wheel-overpoint

The point where a vessel is commanded to change heading beforea waypoint.

Yaw Vessel rotation about the vertical axis (change of heading).

301027/E 17


18 301027/E

K-Pos DP system theory

1 K-POS DP SYSTEM THEORYThis chapter contains the following sections:1.1 The K-Pos DP system ................................................191.2 Basic forces and motions ...........................................191.3 K-Pos DP system principles.......................................21

1.1 The K-Pos DP systemKongsberg K-Pos DP system is a computerised DP controlsystem for automatic position and heading control of a vessel.To control the vessels heading, the K-Pos DP system usesdata from one or more gyrocompasses, while at least oneposition-reference system (for example, DGPS or hydroacoustics)enables the K-Pos DP system to position the vessel.Setpoints for heading and position are specified by the operatorand are then processed by the K-Pos DP system to providethrust control signals to the vessels thruster and main propellersystems. The K-Pos DP system always allocates optimum thrustto whichever propulsion units are in use.Deviations from the desired heading or position are automaticallydetected and appropriate adjustments are made by the system.The K-Pos DP system also provides a manual joystick controlwhich may be used for manual control alone or for combinedmanual/auto control.Without a position-reference system, the K-Pos DP system canprovide automatic stabilization and control of the vessel headingusing the gyrocompass as the heading reference.The K-Pos DP system includes control strategies that will reducefuel consumption and greenhouse gases.

1.2 Basic forces and motionsA seagoing vessel is subjected to forces from wind, waves andcurrent, as well as from forces and moments generated by thevessels propulsion system.The term forces in the following sections includes bothforces and yawing moments, unless otherwise stated. Thevessels responses to these forces, i.e. its changes in position,heading and speed, are measured by position-reference systems,gyrocompasses and vertical reference sensors. Referencesystems readings are corrected for roll and pitch using readingsfrom the vertical reference sensors. Wind speed and direction aremeasured by the wind sensors.

301027/E 19


The K-Pos DP control system calculates the forces that thethrusters must produce in order to control the vessels motionin three degrees of freedom - surge, sway and yaw - in thehorizontal plane.

Figure 1 Forces and motions

The vessel also moves in three vertical degrees of freedom:pitch, roll and heave.

Figure 2 Pitch, roll and heave

Pitch(+ = bow up)

Roll(+ = starboard down)

Heave(+ = down)(CD3292)

The pitch and roll motions are not controlled by the K-Pos DPsystem. However, in order to allow the position-reference systemto correct for these motions, the system must have informationabout them. This information is received from vertical referencesensors.The K-Pos DP system does not control or require informationabout the heave motion, but the motion can be measured anddisplayed.

20 301027/E


1.3 K-Pos DP system principlesA simplified block diagram of the K-Pos DP system is shown inFigure 3, and described in the sections that follow.

Figure 3 K-Pos DP system block diagram

The K-Pos DP system relies on a mathematical vessel modelwhich includes hydrodynamic characteristics such as currentdrag coefficients and virtual mass data. This model, called theMathematical Vessel Model, describes how the vessel respondsto an applied force, e.g. from wind or thrusters.

1.3.1 The Extended Kalman FilterThe Extended Kalman Filter estimates the vessels heading,position and velocity in each of the three degrees of freedom- surge, sway and yaw. It also incorporates algorithms forestimating the effect of sea current and waves.

301027/E 21


The Extended Kalman Filter uses a mathematical model of thevessel. A mathematical model itself is never a 100% accuraterepresentation of the real vessel. However, by using the ExtendedKalman filtering technique, the model is continuously corrected.The vessels heading and position are measured using thegyrocompasses and position-reference systems, and are used asinput data to the K-Pos DP system. These measurements arecompared with the predicted or estimated data produced by themathematical model, and the differences are then used to updatethe model.

Figure 4 Simplified block diagram showing the extendedKalman Filter

The Extended Kalman Filter provides the following advantages: Optimum self-adaptive noise filtering of heading and position

measurements according to noise level and measurement-update rate.

Optimum combination of data from the differentposition-reference systems. The system calculates a variancefor each position-reference system in use, and places differentweighting on their measurements according to each systemsindividual quality.

22 301027/E


In the absence of position measurements, the model providesa dead-reckoning mode. This means that the system isable to perform positioning for some time without positionmeasurement updates from any position-reference systems.

In the Extended Kalman Filter, the Mathematical Vessel Modelsreliability and the noise level of the position measurement are thebasis for deciding how much to trust each measurement. As timeelapses the model uncertainty will decrease by learning frommeasured vessel response.The process is adaptive. If, for example, only oneposition-reference system is active and it has a low update rate,the model uncertainty will increase in the periods betweenmeasurements, and the vessel model will therefore be heavilyupdated with each measurement.Offshore trials have verified that the K-Pos DP system principlesgive: Improved suppression of noise in position measurement with

a better station-keeping performance. Reduced power consumption and wear and tear on the

thrusters due to the improved suppression. A robust handling of combined high and low update rate

position sensors, such as DGPS and traditional LongBase-Line hydroacoustic positioning.

An Extended Kalman Filter is also used for the headinginformation based on measurement from the actual gyrocompassin use.Additional advantages can be obtained by use of: Speed measurements

Speed measurements can be used as an addition to positionmeasurements to improve the vessel speed control, and tomake calibration of position measurements faster when sailingat high speed.A combination of speed measurement and a position-referencesystem will be better able to handle drop out of positionmeasurements during sailing.The speed measurement interface can be DGPS or DopplerLog.

ROT measurementsROT (Rate Of Turn) measurements from ROT sensors canbe used to improve the heading control of the vessel. This isuseful when very accurate heading control is required duringhigh-speed sailing, or when the vessel has a hull shape thatmakes it difficult to control the heading.

301027/E 23


1.3.3 The ControllerThe controller calculates the resulting force to be produced by thethrusters/propellers in order for the vessel to remain on station.In station-keeping operations, the K-Pos DP Controller canbe working in several of the following modes, all with specialcharacteristics: High Precision control Relaxed control Green controlHigh Precision control provides high accuracy station-keepingin any weather condition at the expense of power consumptionand exposure to wear and tear of machinery and thrusters.Relaxed control uses the thrusters more smoothly, at the expenseof station-keeping accuracy. However, this type of control cannotguarantee that the vessel will stay within its operational area, andis only applicable for calm weather conditions.Green control uses a different control technology callednon-linear Model Predictive Control, which is optimised forprecise area keeping with minimum power consumption. Greencontrol is applicable in all weather conditions.The transition between K-Pos DP controller modes is bumpless.

1.3.3.2 High Precision and Relaxed Control

The controller consists of the following parts:

24 301027/E


Excursion FeedbackThe deviation between the operator-specified position/headingsetpoints and the actual position/heading data, and similardeviations with respect to the vessels velocity/heading rate,drive the excursion feedback. The differences are multipliedby gain factors giving a force setpoint (restoring setpoint anddamping setpoint) required to bring the vessel back to itssetpoint values while also slowing down its movements.The main difference between High Precision control andRelaxed control is the restoring characteristics of the twocontroller types as indicated in Figure 5.

Figure 5 High precision and Relaxed control

Position deviation

Thrust

Relaxed

(CD3320)

High precision

Wind Feed-ForwardIn order to counteract the wind forces as quickly as possible,the feed-forward concept is used. This means that the K-PosDP system will not allow the vessel to drift away from therequired position, but counteracts the wind-induced forcesas soon as they are detected.

Current FeedbackThe excursion feedback and wind feed-forward are notsufficient to bring the vessel back to the desired setpoints dueto unmeasured external forces (such as waves and current).The system estimates these forces over time, and calculatesthe force setpoint required to counteract them.

1.3.3.3 Green control

In the Green control mode, the system maintains the vesselwithin an allowed area with minimum use of power.The controller design consists of two main parts, each givingits contribution to the control:

301027/E 25


The Environment Compensator is designed to compensate forthe averaged environmental forces, which will maintain therequired position under averaged conditions.

The Model Predictive Controller (MPC) uses a prediction(Position Predictor) of the vessel movement as input for thecontrol. When the operational boundaries are predicted to beexceeded, the controller reacts to ensure that the vessel stayswithin the operational area (see Figure 6).

Figure 6 Vessel under Green control in the operational area

The very smooth control actions reduce wear and tear onmechanical parts of the power and thruster system and reducefuel consumption and greenhouse gases.A simplified block diagram of the MPC Green control is shownin Figure 7.Due to its nature, the MPC will not instantaneously react tosudden changes in external forces, such as wind gusts, unless thePosition Predictor detects that actions must be taken immediately.Unnecessary sudden use of thrust is therefore avoided.The Position Predictor includes the mathematical model ofthe vessel used in the Extended Kalman Filter of the DP. Theposition and heading of the vessel are predicted over a periodof 1 to 2 minutes.The non-linear Model Predictive Controller is an onlineoptimisation function, finding the best compromise betweenusing thrust and predicted crossing of operational boundaries.

26 301027/E


Figure 7 Green control structure

1.3.5 Thruster allocationThe K-Pos DP systems controller continuously calculates theactual force requirements in the alongships and athwartshipsdirections (the force setpoint), and the required rotationalmoment (the turning moment setpoint).The Thruster Allocation distributes these setpoints aspitch/rpm/force/load and azimuth control signals to eachthruster/propeller, thus obtaining the force and moment requiredfor the position and heading control.The setpoint is distributed in such a way as to obtain theforce and turning moment required for position and headingcontrol, while also ensuring optimum thruster/propeller use withminimum power consumption and minimum wear and tear on thepropulsion equipment.

301027/E 27


If it is not possible to maintain both the turning moment andthe force setpoint due to insufficient available thrust, priority isnormally set to obtain the turning moment setpoint (heading).If a thruster/propeller is out of service or deselected, thelost thrust is automatically redistributed to the remainingthrusters/propellers.The magnitude of thrust allocated is reduced if the availablepower is too low to meet the thrust demand. The allocated thrustwill however still be correct with respect to the direction of thrust.Heading (or position) priority is also kept in such a situation.Power optimal thruster allocation is the primary barrier forpreventing blackouts and requires the same information as thatrequired for Power Load Monitoring and Blackout Prevention(see Power load monitoring and blackout prevention onpage 223).

28 301027/E

User interface

2 USER INTERFACEThis chapter contains the following sections:2.1 Operator station..........................................................292.2 Operator panel............................................................302.3 Display layout ............................................................352.4 Display views.............................................................462.5 Main menus................................................................52

2.1 Operator stationThe K-Pos DP operator station includes a high-resolution colourflat screen for monitoring and operation of the system, and anoperator panel with push buttons, lamps and joystick controls.

Figure 8 The K-Pos DP operator station

301027/E 29


The power switch and adjustment controls for the display areplaced on the right hand side of the screen. The use of the powerswitch and adjustment controls is described in the HardwareModule Description for the screen.

2.2 Operator panelThe operator panel provides: Dedicated buttons (most of these have status lamps) Keypad Trackball 3-axis joystick Heading wheel and buttons

Figure 9 K-Pos DP operator panel

30 301027/E

User interface

2.2.1 Push buttonsSeveral push buttons with status lamps are provided on theoperator panel for activation of main modes, position-referencesystems, thrusters and functions. The accompanying status lampsindicate activation of a particular function, mode or system.Other frequently-used functions, such as selection of displayviews and dialog boxes, may also have dedicated push buttons onthe operator panel.The buttons are grouped according to their main function. Forsafety reasons, some of the buttons must be pressed twice withinfour seconds to invoke action. These buttons are indicated by awhite line along the lower edge.

Figure 10 Examples of buttons: double press (TAKE buttonfor taking command) and single press (ACK button foracknowledging messages)

Note that the appearance of push buttons may vary from vesselto vessel.

2.2.1.1 Modes

The MODES button group contains buttons for selecting the mainoperational modes. Status lamps indicate the current mode.Three additional buttons allow you to select individual axes forautomatic control. These are referred to as the SURGE, SWAYand YAW buttons throughout this manual.Figure 11 shows the button arrangement for an OS where theoperator looks in the alongships direction whilst looking at thescreen.

Figure 11 Surge, sway and yaw buttons on an OS that isorientated in the alongships direction

Figure 12 shows the button arrangement for an OS where theoperator looks in the athwartships direction whilst looking atthe screen.

301027/E 31


Figure 12 Sway, surge and yaw buttons on an OS that isorientated in the athwartships direction

2.2.1.2 Controls

The CONTROLS button group contains buttons for accessingsystem functions and dialog boxes.

2.2.1.3 Views

The VIEWS button group contains buttons for selecting the viewto be displayed in the main working area of the screen.

2.2.1.4 Thrusters

The THRUSTERS button group contains buttons for enablingthrusters.

2.2.1.5 Sensors

The SENSORS button group contains buttons for enablingposition-reference systems and for initiating dialog boxes relatedto other system sensors.

2.2.1.6 Command

The COMMAND button group contains buttons for transferringcommand to one Operator Station or operator terminal fromanother.

2.2.1.7 Alarms

The ALARMS button group contains indicators and buttonsto display and acknowledge alarms and events. The SILENCEbutton, shown to the left, is used to silence the audible signalwithout acknowledging the Emergency or Alarm message thatcaused it.

For more information about messages and the ALARMS buttongroup, see Message system on page 88.

2.2.2 InputThe INPUT keypad provides keys that are used to enter values ortext into dialog boxes.

32 301027/E

User interface

This button toggles between numeric and alphanumeric mode.Numeric mode is the default. Press the button for one second totoggle. A short beep will confirm the change. The lamp is litgreen when the panel is in alphanumeric mode (letters) and notlit when in numeric mode (numbers).When the panel is in numeric mode and any of the numeric keysare pressed, the corresponding number is entered.When the panel is in alphanumeric mode and any of the numerickeys from 2 through 9 is pressed once, the first letter on that key isentered. Press the key twice to enter the second letter, three timesto enter the third letter and four times to enter the fourth letter.In alphanumeric mode this button toggles between non-capitaland capital letters. Non-capital letters is the default. Press thebutton for one second to toggle.

Pressing this button deletes one character to the left.

This is the ENTER key. Pressing this key applies the value or textyou have written to the system (i.e. corresponds with clickingthe OK button on a dialog box)

PAGE UP

PAGE DOWN

HOME

ESC

Same functions as on a standard keyboard.

2.2.3 Trackball

The TRACKBALL is used to position the cursor on the screen.The left button is used to click on screen buttons, choose frommenus and select displayed symbols.The right button is used to display a shortcut menu.The middle button is not used.

301027/E 33


2.2.4 Joystick

In Joystick mode, the operator controls the positioning of thevessel using the three-axis joystick (integrated joystick and rotatecontroller).To move the vessel in the surge and sway axes (alongships andathwartships directions), tilt the joystick. The direction in whichthe joystick is tilted determines the direction of applied thrusterforce, and the angle of tilt determines the amount of appliedthruster force.To turn the vessel (the yaw axis), rotate the joystick. Thedirection in which the joystick is rotated determines the directionof the rotational moment demand, and the angle through whichthe joystick is rotated determines the amount of applied rotationalmoment.

2.2.5 Heading wheelThe Heading Wheel comprises one heading wheel and sevenbuttons. Three of these buttons are located in front. The otherfour forms a circle close to the heading wheel.

The functions that are available depend on the present mode.HEADING (DECREASE/ACTIVATE/INCREASE)

To perform a change of heading using the heading wheel, oneof these three associated buttons must be pressed. The headingsetpoint can be changed by turning the heading wheel or by usingthe DECREASE or INCREASE buttons.

HEADING WHEELThis is used for setting a new heading.

RATE OF TURN/TURN RADIUSFor adjusting the Rate Of Turn (ROT) or Turn Radius.

34 301027/E

User interface

DISTANCE TO TURNFor adjusting the Distance To Turn.

2.3 Display layoutThe display interface uses standard Microsoft Windows operatingfeatures such as menus and dialog boxes.

The display is divided into a number of predefined areas asshown in the following figure. In addition to these, dialog boxesare displayed whenever operator interaction is required.

301027/E 35


2.3.1 Title barThe title bar identifies the K-Pos DP operator station and showsthe current date and time.When this operator station has command, the Controller PSgroup and Command group field has yellow background colour.In our example the Controller PS group is Main (to which theoperator station in question is connected) and the Commandgroup is Propulsion (which the system controls).When the Trainer is used, the text SIMULATING is displayedflashing.

2.3.2 Menu barThe menu bar provides command menus allowing access to theavailable dialog boxes.

36 301027/E

User interface

Figure 13 Menu bar (example)

2.3.2.1 Active and unavailable commands

Because some commands are relevant to several modes, thesecommands appear on more than one menu. For example, Headingappears on both the Joystick and AutoPos menu.Some commands that are present on more than one menu areonly available in the present mode menu. Unavailable commandshave a dimmed appearance.

Figure 14 Commands that are present on more than one menu(example)

2.3.3 Message lineThe message line shows the most recent emergency, alarmor warning message that has not yet been acknowledged.Right-clicking the message text opens the System MessagesHelp with the relevant message explanation displayed. SeePresentation of messages on page 90.

301027/E 37


2.3.4 Performance areaThe performance area shows important performance informationto allow immediate assessment of the situation. The content ofthis view changes automatically according to the selected mainmode.Several parts of the performance area are click-sensitive.When the cursor is moved over an indicator that is defined asclick-sensitive, it changes to a pointing hand. At the same time ahotspot cursor text in a yellow frame (the tooltip) is displayed fora few seconds. This text explains the use of the click-sensitiveobject.

Orientation of the OS and effect on thePerformance area

The Performance area shows information relative to theorientation of the Operator Station, so that it is easier to interpretwhat is seen on the screen. There are two possible orientations: The Operator Station is installed facing forward in the vessel

(ahead), when looking at the display screen. The Operator Station is installed facing the stern of the vessel

(aft), when looking at the display screen.In this manual, the Performance area examples show theinformation with forward orientation. For aft orientation, thedisplayed information is the same, but it may be arrangeddifferently to suit the orientation of the Operator Station.

2.3.5 Working areasThe working areas shows operator-selectable display views.

2.3.6 Status lineThe status line displays general help messages and advice for theoperator. For example, when moving the cursor over an openmenu, information about the menu commands is displayed inthe status line.

2.3.7 Status barThe status bar provides general system status informationby means of indicators, some of which are click-sensitive.When the cursor is moved over an indicator that is defined asclick-sensitive, it changes to a pointing hand. If you then clickthe left trackball button, a dialog box related to that indicatoris opened.

38 301027/E

User interface

Figure 15 Status bar (example)

MainModeThe present operational mode.

PosModeThe automatic position control mode: PRESENT or NEW SETP(new setpoint).

HdgModeThe automatic heading control mode: PRESENT, SYS SEL(system selected) or NEW SETP (new setpoint).

AllocModeThe present thruster allocation mode, for example VARIABLE(see Thruster Allocation dialog box on page 206).

RotCenterShows the present Rotation Center (see Rotation center forautomatic control on page 77 or Rotation center for joystickmanoeuvring on page 84).

ThrAn indication of the status of the thrusters: Grey No thrusters are enabled. Green At least one thruster is enabled.

RefsAn indication of the status of the position-reference systems: Grey No position-reference systems are enabled. Yellow At least one position-reference system is enabled,

but there is no acceptable position information. Green At least one position-reference system is enabled

and the position information from at least one of them isaccepted.

SensThis is one of the click-sensitive areas. If you press the lefttrackball button while the cursor has the shape of an open hand,the Sensors dialog box is opened.

JoystickSymbols describing the present joystick settings are groupedabove this label.

Joystick Thrust levelFull or Reduced (see Joystick settings on page 81).Joystick Precision levelHigh Speed, General or Low Speed (see Joystick settings onpage 81).

301027/E 39


AutoPosSymbols concerning automatic control are grouped above thislabel.

Axis Control and Axis Damping Control

These are graphic indications of the axes that are under automaticcontrol or damping control.The descriptions of the surge and sway axes apply to a systemwith the vessel diagram displayed bow up (see Orientation ofthe OS and effect on display views on page 46).

The surge axis is under automatic or damping control.

The sway axis is under automatic or damping control

The yaw axis is under automatic or damping controlThe axis control symbol is rotated according to the orientationof the Operator Station (see Orientation of the OS and effect ondisplay views on page 46). Note that the mutual angle differencebetween the surge and sway axes is preserved.Gain

Shows the present controller gain level. There are differentsymbols for the available combinations of controller mode andgain level. See Display presentation of Controller Mode onpage 73.Quick Model

Shows whether the Quick Model Update function is on (yellow)or off (grey) (see Quick model update on page 75).DP Consequence Class

Shows the currently selected DP Class for the DP OnlineConsequence Analysis function: Grey Off 2 Class 2 3 Class 3

2.3.8 Dialog boxesYou can enter data into the system using dialog boxes. Theseare displayed using panel buttons, selecting menu commands orby clicking on graphical symbols in the views or icons on thestatus bar.Dialog boxes appear in the display area but you can move themas required.To locate information about individual dialog boxes, use theIndex at the end of this manual.

40 301027/E

User interface

When data has been modified on a dialog box, the message(Changed) is added to the title bar text.Data entered on a dialog box is not used by the system until youconfirm the input by clicking the Apply or OK button: If you click the OK button, the changes that you have made

are applied and the dialog box is removed from the display. Ifany data errors are found, no changes are made and the dialogbox remains open.

If you click the Cancel button, no changes are made and thedialog box is removed from the display.

If you click the Apply button, the changes that you have madeare applied and the dialog box remains displayed.

When you are not allowed to make changes to the data on adialog box, both the OK and Apply buttons will be unavailable(displayed dimmed). This can occur, for example, when theOperator Station is not in command or the system is not in anappropriate mode.

301027/E 41


Some dialog boxes have several pages which you access byclicking on the page tab. For this type of dialog box, both theApply and OK buttons apply the changes that you have madeon all pages of the dialog box.Click the Cancel button to close the dialog box without action. Ifa dialog box can be accessed by pressing a panel button, pressingthis panel button while the dialog box is displayed closes thedialog box without action.

2.3.9 Entering numeric valuesNumeric values can be entered into text boxes in dialog boxes,you can achieve this in several different ways, depending on thetypes of numeric input field used and the functionality availableon the Operator Station.There are two types of input fields used for entering numericvalues:

Text boxThis is a rectangular box in which you can type a numerical value.If the box already contains a numerical value, you can select thatdefault value to be used or delete it and type in a new value.Spin boxThis is a text box equipped with two additional up and downarrows (on the right-hand side) that can be clicked to decrease orincrease the numerical value by a fixed increment. A numericalvalue can also be typed directly in the box.

On an operator panel equipped with a numeric keypad, thiskeypad represents the easiest way to enter numeric values.However, the Enter a New Numeric Value dialog box may beused. This will be displayed on the screen when enabled, and isespecially suited to Operator Stations having: No numeric keypad on the operator panel Touch sensitive screens

2.3.9.1 Enabling the Enter a New Numeric Valuedialog box

The Enter a New Numeric Value dialog box must be enabledbefore use.To enable the Enter a New Numeric Value dialog box:1 Select ViewNum Entry Dlg.

42 301027/E

User interface

The Numeric Entry Keypad Dialog Use dialog box isdisplayed.

2 Select the Enable Numeric Entry Keypad Dialog check boxand click the OK button. The Enter a New Numeric Value dialog box is enabled.

To test the Enter a New Numeric Value dialog box:1 In the Numeric Entry Keypad Dialog Use dialog box, ensure

that Enable Numeric Entry Keypad Dialog is selected.2 Place the cursor in the Enter a numeric value text box and

click the left trackball button or, if you have a touch-sensitivescreen, tap the text box using your index finger. The Enter a New Numeric Value dialog box is displayed.

301027/E 43


3 Enter a new numeric value in the Enter a numeric value: textbox using the numeric keys on the Enter a New NumericValue dialog box and then click the OK button (on the Entera New Numeric Value dialog box).

4 Click the OK button on the Numeric Entry Keypad DialogUse dialog box. The Enter a New Numeric Value dialog box is tested and

ready for use.

2.3.9.2 Using the Enter a New Numeric Valuedialog box

To use the Enter a New Numeric Value dialog box:1 Having opened a dialog box containing text boxes for

numeric entry, place the cursor in a text box and click theleft trackball button. The Enter a New Numeric Value dialog box is displayed

adjacent to the text box.

2 Use the keys on this dialog box to enter a new numericvalue in the text box.

3 Click the OK button on the Enter a New Numeric Value dialogbox to use the new numeric value in the relevant text box.

Note

This new numeric value will first be applied to the system whenyou click the OK or Apply button on the dialog box where therelevant text box is located.

44 301027/E

User interface

2.3.9.3 Overview of the keys in the Enter a NewNumeric Value dialog box

Deletes the digit to the left of the cursor.

Deletes the digit to the right of the cursor.

Deletes the entire number.

Moves the cursor to the far left on the text box.

Moves the cursor one digit to the left.

Moves the cursor to the far right on the text box.

Moves the cursor one digit to the right.

The numeric keys 0 to 9, decimal point key and sign key.

2.3.10 Input validation of entered valuesWhen you enter a numerical value, it is validated by the system.The value must be within the selected display format limits forthis data type (for example, a heading value must be between 0and 360 degrees). If you enter an illegal value, and then click theOK or Apply button, an Illegal value dialog box is displayed.

Click the OK button on this dialog box. The illegal value willremain highlighted in the text box until it is corrected.If the dialog box has more than one page, and you enter an illegalvalue on one of the pages, the validation will be performed whenyou click the OK or Apply button, even though another page isdisplayed. The dialog box is automatically displayed with thepage containing the illegal value on top.

301027/E 45


If more than one validation error occurs, all errors are listed inone message box. In the dialog box, however, only the first errorwill be highlighted.

2.4 Display viewsDisplay views presents the operator with information about theoperation.

2.4.1 Orientation of the OS and effect ondisplay viewsSeveral of the display views show information relative to adiagram of the vessel; for example, thrusters are shown on theThrusters view in their relative positions on the vessel diagram.The orientation of the vessel diagram is configured to suit theorientation of the Operator Station, so that it is easier to interpretwhat is seen on the screen. There are four possible orientationswhich are generally used in the following situations: The operator is facing forward in the vessel when looking

at the display screen. The vessel diagram is displayed bowup on the display.

The operator is facing to starboard in the vessel when lookingat the display screen. The vessel diagram is displayed bowleft on the display.

The operator is facing aft in the vessel when looking at thedisplay screen. The vessel diagram is displayed bow downon the display.

The operator is facing to port in the vessel when looking at thedisplay screen. The vessel diagram is displayed bow righton the display.

In this manual, the example display views show the vesseldiagram bow up. For other orientations, the displayedinformation in each view is the same, but it may be arrangeddifferently.

2.4.2 Tooltip/hotspot cursor and changeof cursor imageIn many of the display views, the ordinary cursor changes toa pointing hand (the hotspot cursor) when it is moved overan area defined as click-sensitive. Typical examples of suchclick-sensitive areas are: Push buttons for zooming in and out. Numerical fields showing other related numerical values when

clicked. Graphical fields showing a specific dialog box when clicked.

46 301027/E

User interface

Change of position setpoint. Opening another view related to the specific component you

click. Opening the control dialog box for a specific plot, etc.

At the same time as the cursor image changes when it is movedover a click-sensitive object, a hotspot cursor text in a yellowframe (the tooltip) is displayed for a few seconds. This textexplains the use of the click-sensitive object. The tooltip andhotspot cursor are on by default, but can be toggled on/off byusing the Show ToolTip and the Use HotSpot Cursors commandson the View menu.

2.4.3 Available viewsYou will find information about the standard display views in thefollowing sections (in alphabetic order): Deviation view on page 274

Shows a combination of graphical and numerical performancedata, particularly related to position and heading deviation.

Diesels view on page 278Provides a simplified mimic display of the vessels dieselengines and fuel-rack system as seen from the K-Pos DPsystem.

General view on page 281Shows a combination of graphical and numerical performancedata.

Joystick view on page 283Shows the thrust setpoint and response during Joystick mode.

LTW view on page 287Shows the performance of a Light-Weight Taut Wire (LTW)position-reference system.

Numeric view on page 293Shows performance data in numerical form.

Performance area on page 295Shows important performance information to allow immediateassessment of the situation.

Posplot view on page 300Shows the vessels position and heading.

Power view on page 314Shows a mimic display of the vessels electrical power system.

301027/E 47


Power Consumption view on page 318Shows available power for each main bus in numerical form,and also consumed power for each main bus both in numericaland graphical form.

Refsys view on page 319Shows the individual and consequent performance of theactive position-reference systems.

Refsys Status

Documents

K-Pos Operator Manual