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KONGSBERG PROPRIETARY. This document contains KONGSBERG information which is proprietary and confidential. Any disclosure, copying, distribution or use is prohibited if not otherwise explicitly agreed with KONGSBERG in writing. Any authorised reproduction, in whole or in part, must include this legend. © 2010 KONGSBERG – All rights reserved.
Today’s Dynamic Positioning Systems
Nick Van Overdam Andrew Phillips
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History of Dynamic Positioning
• Cuss 1 Mohole Project, 1961 • “Station keeping” w/joystick control
and acoustic transponders
• Eureka, 1961 & Caldrill, 1964 • True DP using 3 analog controllers and
taut wire
• Markets developed in the Mediterranean and the North Sea
• Commercialization by Honeywell in the late 1960’s
• Seaway Falcon was the first commercial DP system by Kongsberg in 1977
© KONGSBERG 2008
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DP Equipment Classes
Class 1 Loss of position may occur in the event of a
single fault.
Equipment need not be redundant.
Class 2 Loss of position is not
to occur in the event of a single fault in any active component or
system. Static components not
considered for failure.
Typically achieved through redundancy.
Class 3 Loss of position is not
to occur in the event of a single fault including a completely burnt fire sub-division or flooded
watertight compartment.
Typically achieved through redundancy
and compartment segregation.
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DP system hardware philosophies COTS (Commercially off the shelf) versus Proprietary
COTS • Shelf life of processors,
motherboards, video cards, etc…
• Up front cost savings ?? • Long term upgrade cost? • Supportability
Proprietary • Long term support • Knowledgeable tech support
(Certified internal training) • Stable hardware platform
(average life time 10-15 yrs, longer mean time between system upgrades)
• Long term cost savings
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Importance of Sensor Input Number of required units
Wind Sensor Wind speed and direction measurements input to aerodynamic model
Gyro Compass Heading input (heading control, geographic orientation)
MRU pitch, and roll measurements are required to correct Position Reference System fixes for the orientation of the vessel
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Today’s Optional Position Ref Systems
• Differences of GPS systems – true mul5 referencing
• RADius / CyScan / RadaScan / Fanbeam / DARPS
• Acous5c Systems
• Tautwire
• Gangway
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Differences of GPS Systems – true mul5 referencing
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For the receiver to output GPS position coordinates of submeter accuracy, you must first select a differential signal from one of the following sources: • SBAS (WAAS/EGNOS, and MSAS) – free service, limited Availability • OmniSTAR VBS or HP/XP – paid subscription, available Worldwide • Beacon mode – Correction received by the combined beacon/GPS antenna
DPS Engine comprises an "All in One" signal processing core with advanced algorithms and true parallel processing of all available signals including SBAS (e.g. WAAS, EGNOS, MSAS and GAGAN). DGPS/DGLONASS corrections from different sources are combined by the unique MULTIREF capability. There is no practical limitation to the number of reference stations handled by the DPS Engine. DPS 232 provides full decimeter accuracy with High Precision Services.
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9
RADius / CyScan / RadaScan / Fanbeam pros vs GPS
100m 200m 300 m
DGPS
RPS 1m
10m
100m
Distance
Robust and precise relative reference for DP operations when close to structures or other vessels
Complementary to DGPS e.g. as DGPS tends to have reduced accuracy close to structure or other vessels, Relative Positioning Systems increase accuracy
Increasing integrity by tracking multiple transponders and built-in accuracy assessment and performance evaluation
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10
RADius / CyScan / RadaScan / Fanbeam Cons vs GPS
Limited in relative distance from Target.
A target must be hung from the structure\rig\platform in order to position off of. In some cases the target requires an activation key or ships power in order to utilize.
(Fanbeam and CyScan only)Degraded signal quality with direct sun light, heavy rain, fog and false targets.
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11
RADius operational advantages
• No moving parts • Solid state • Low maintenance cost
• Operates in all weather conditions
• Complementary to existing GPS positioning reference system
• Multi user • Multiple transponder
capability • License free • Integrity • ‘shadow’ free • False reflection free
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Underwater Positioning
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HiPAP family
HiPAP® 350P
Acoustic operating area recommended: ± 60º
Operating range: 3000m
Range accuracy: ≤0.20m
Angle accuracy: ≤ 0.18º ( 0.3% of slant range)
HiPAP® 500
Acoustic operating area recommended: ± 100º
Operating range: 4000m
Range accuracy: ≤ 0.10m
Angle accuracy: ≤ 0.12º ( 0.2% of slant range)
392 mm 60 kg 320 mm
30 kg
Gate valve 500 mm
Gate valve 350 mm
HiPAP® 350
Acoustic operating area recommended: ± 60º
Operating range: 3000m
Range accuracy: ≤0.20m
Angle accuracy: ≤ 0.18º ( 0.3% of slant range)
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Light Weight Taut Wire
• Accuracy 0.2% of water depth • Remote control from bridge • Operational limits
• 300 (500) m depth
• ±20 ° angle (35% of water depth)
• Favorite among dive support vessels – visual reference for divers
• Pipe laying
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DP Applications
Research Vessels Supply Boats Crew Boats – how DP has now taken over that market. More mul5 func5onal fast vessels Dredgers – 5me savings not having to go over missed areas, etc. Ocean Tugs – offers addi5onal func5onali5es to serve different opera5ons Anchor Handlers Accommoda5on Vessels Pipe layers / Cable Layers Construc5on / Heavy liM Vessels Military Cruise Vessels Drill Ships / Semi’s ROV / Dive Support Vessels Yachts Icebreaker
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Research Vessels
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Supply Boats or OSV’s
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Crew Boats
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Dredgers
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Ocean Tugs
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Anchor Handlers
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Accommoda5on vessels
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Pipe layers
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Construction / Heavy Lift Versabar VB10000
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Military
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Military
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Cruise Ships
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Drill Ships / Semi-Submersibles
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Windmill Installation Vessel
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USCG Mackinaw Ice Breaker
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DP Design – A changing working environment
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K-Master- The DP of Tomorrow.... Today!
Touch Control Panels (both sides)
Joystick for DP and Independent DP joystick
Thruster control levers (both sides)
Seat adjustment controls Independent DP
Joystick control panel (Touch)
Alarms, Mode control and control transfer
Microphone/ speakers in backrest
Space for additional operator units (both sides)
Rotate wheel
Radio PTT switches
Mini joystick for equipment control
Backup switch
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K-Master ergonomics
Sectors according to DNV NAUT-OSV
Hand Grasp
On Hand
Within easy reach
Within reach
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FUGRO Symphony – Aft Bridge – K-Master
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Local Customer Support
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WORLD CLASS – through people, technology and dedication www.kongsberg.com
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