NAVIS NavDP 4000 Series User manual

000.JDP-10000-OME
NAVIS NavDP 4000
Dynamic Positioning & Independent Joystick Control System
Operation Manual
Software version 3.3.13 (“2102.$–17A-Advanced”)
Document build 9203
May 2018

NAVIS NavDP 4000. Operation Manual
Document History
Revision Date Modification Made by
2.17 2000-2007 JL, AA, LK, AV
3.2 2008-2009 292.$–Bus5 software version VA, SR, AA
3.3.2 2009-2010 450.$–MultiTarget EA, YK, OS
3.3.4 2009-2011 570.$–Summer09 Style refactoring, new software fea-
tures
EA, YK, OS
3.3.5 2010-2011 680.$–May10 software features EA
3.3.6 2012 900.$–Release-12A software features EA, TM, DL
3.3.7 2012-2013 1024.$–Release-12B software features EA, TM, OK
3.3.8 2013 1200.$–Release-13A software features EA, TM, OK
3.3.9 2014 1400.$–Release-14A software features EA, TM, OK
3.3.10 2015 1600.$–Release-15A software features EA, OK, AL
3.3.11 2016 1828.$–Release-16A software features EA, AL, LP, VS
3.3.12 2017 2100.$–Release-17A software features:
Capability analysis refactoring, Drift analysis, DP Class 2
monitor, Time auto synchronization
EA, AL, LP, VS, MK
THE INFORMATION CONTAINED HEREIN IS THE PROPRIETARY OF NAVIS ENGINEERING OY AND SHALL
NOT BE DUPLICATED, USED, OR DISCLOSED IN WHOLE OR IN PART FOR ANY FUNCTIONAL OTHER
THAN TO EVALUATE THIS MANUAL
Designed by:
Navis Group
Navis Engineering OY (Head office)
Address: Tuupakantie 3 A 01740 VANTAA, FINLAND
Tel: [phone]
Fax: [phone]
Web: http://www.navisincontrol.com/
E-mail: [email protected]
1Doc. 000.JDP-10000-OME, rev.3.3.13/“2102.$–17A-Advanced”

CONTENTS
Contents
Abbreviations 9
1 System Principles and Functionality 10
1.1 Introduction.................................................. 10
1.2 SystemPrinciples............................................... 10
1.2.1 VesselModel............................................. 12
1.2.2 WindModel ............................................. 12
1.2.3 ThrusterModel............................................ 12
1.2.4 VesselModelUpdate......................................... 13
1.2.5 OperatorCommands ......................................... 13
1.2.6 SetPointAlgorithm ......................................... 13
1.2.7 OptimalController.......................................... 13
1.2.8 Sensors and Position References Systems Data Processing . . . . . . . . . . . . . . . . . . . . . 13
1.3 BasicsofSystemOperation.......................................... 14
2 System Hardware Configuration 15
2.1 Operational Modes and Mode Selector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.1.1 Bridge(orManual)Mode ...................................... 22
2.1.2 DPMode(DPControlSystem) ................................... 22
2.1.3 IJmode(IJControlSystem) ..................................... 22
2.1.4 Autopilotmode............................................ 22
2.1.5 Mode Selectors for NAVIS NavDP 4011 or NAVIS NavDP 4022 ................. 22
2.2 OperatorStations ............................................... 23
2.3 Main and Portable Control Panels (MCP, PCP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.4 Control Panel MCP4000 with LCD Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.4.1 POWER................................................ 25
2.4.2 OPERATION............................................. 26
2.4.3 CommunicationIcon......................................... 26
2.4.4 BATTERY .............................................. 26
2.4.5 TAKE/GIVE ............................................. 26
2.4.6 DIM+,DIM- ............................................ 27
2.4.7 HDG ................................................. 27
2.4.8 POS.................................................. 27
2.4.9 TheControlElementsGroup..................................... 28
2.4.10 HOLD ................................................ 29
2.4.11 ArrowButtons ............................................ 29
2.4.12 RotaryKnob ............................................. 29
2.4.13 ALARMACK ............................................ 30
2.4.14 ENTER................................................ 30
2.4.15 CANCEL............................................... 30
2.4.16 VIEW................................................. 31
2.4.17 MODE ................................................ 31
2.4.18 ALARMLIST ............................................ 32
2.5 ControlPanelMCP4000-3 .......................................... 32
2.5.1 Power................................................. 33
2.5.2 OPERATION............................................. 33
2.5.3 TAKE/GIVE ............................................. 33
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NAVIS NavDP 4000. Operation Manual
2.5.4 Communication............................................ 34
2.5.5 AlarmAck .............................................. 34
2.5.6 Enter ................................................. 34
2.5.7 Rotary Knob (Setting Heading) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
2.5.8 Test.................................................. 34
2.5.9 ArrowButtons ............................................ 35
2.5.10 HDG ................................................. 35
2.5.11 POS.................................................. 36
2.5.12 HOLD ................................................ 37
2.6 ControlPanelMCP2000 ........................................... 37
2.6.1 Power................................................. 37
2.6.2 SystemActive ............................................ 37
2.6.3 TakeControl ............................................. 39
2.6.4 SerialLinkIndicator ......................................... 39
2.6.5 BatteryIndicator ........................................... 39
2.6.6 Knob Match and Joystick Match . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2.6.7 Volume ................................................ 40
2.6.8 AlarmAck .............................................. 40
2.6.9 Enter ................................................. 40
2.6.10 Rotaryknob(Heading)........................................ 40
2.6.11 Joystick(Position) .......................................... 40
2.6.12 Test.................................................. 40
2.6.13 HoldHDG .............................................. 41
2.6.14 HoldPOS............................................... 41
2.6.15 Silence ................................................ 41
2.7 ControlPanelMCP-B............................................. 41
2.7.1 Power................................................. 42
2.7.2 CommunicationIcon......................................... 42
2.7.3 RotaryKnob ............................................. 42
2.7.4 InControl............................................... 42
2.7.5 DIMMode .............................................. 42
2.7.6 CANCEL............................................... 43
2.7.7 AlarmACK.............................................. 43
2.7.8 AutoHDG............................................... 43
2.7.9 AutoPOS ............................................... 43
2.8 JoystickandRotaryKnob........................................... 45
2.9 Printers .................................................... 47
2.9.1 AlarmPrinter............................................. 47
2.9.2 NetworkAlarmPrinter........................................ 48
2.9.3 ColorPrinter ............................................. 49
3 Switching On/Off and Troubleshooting 50
3.1 PowerOn ................................................... 50
3.1.1 PowerOn—DP-0ClassSystem................................... 50
3.1.2 PowerOn—DP1ClassSystem ................................... 50
3.1.3 PowerOn—DP2ClassSystem ................................... 50
3.2 StarterMenu ................................................. 51
3.3 SaveaScreenshotasaFile .......................................... 55
3.4 TakingControl ................................................ 55
3.4.1 Master/SlaveStations......................................... 55
3.5 FailureModes................................................. 55
3.5.1 ForDP1ClassSystems........................................ 55
3.5.2 ForDP2ClassSystems........................................ 55
3.5.3 Multi-WSsystem........................................... 55
3.6 SwitchingOff................................................. 55
3.6.1 Basicway............................................... 56
3.6.2 SupplementaryWay ......................................... 56
3.6.3 Emergencymethod.......................................... 56
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CONTENTS
4 System Messages and Alarms 57
4.1 AlarmMessageTypesandPriority...................................... 57
4.2 AudibleandVoicealarms........................................... 57
4.3 Alarm/MessageLine ............................................. 57
4.4 ACKSoftkey ................................................. 58
4.5 SilenceSoftkey ................................................ 58
4.6 AlarmWindow ................................................ 58
4.7 AlarmMonitorWindow ........................................... 60
4.8 MessageMarkers ............................................... 60
4.9 MessageStatuses ............................................... 61
4.10AlarmMessagesPrinting........................................... 61
5 Operator Interface 63
5.1 OperatorScreenLayout............................................ 63
5.1.1 StatusLine .............................................. 66
5.1.2 Alarm/MessageLine......................................... 66
5.1.3 Mode/FunctionPanel......................................... 66
5.2 DPWindows(Views)............................................. 67
5.2.1 QuickSwitcherPanel......................................... 67
5.3 HelpWindow ................................................. 69
5.4 Position and Heading Display (Map View) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
5.4.1 Vesselheadingdisplaying ...................................... 70
5.4.2 Vesselpositiondisplaying ...................................... 72
5.4.3 MapView............................................... 73
5.4.4 ViewControls ............................................ 73
5.5 EnterPositionSetpoint ............................................ 76
5.5.1 Position new setpoint indication on Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
5.6 EnterHeadingSetpoint............................................ 79
5.6.1 Presetheadinginput ......................................... 79
5.6.2 Offsetheadinginput ......................................... 80
5.6.3 Heading new setpoint indication on Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
5.7 EnterCrabAngle ............................................... 81
5.8 TrendViewWindow ............................................. 81
5.8.1 TrendViewSettings ......................................... 82
5.9 SystemParameters .............................................. 85
5.9.1 ParameterPages ........................................... 85
5.9.2 Graphic Display Customization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
5.9.3 EnteringParameterValues ...................................... 88
5.10Syncronized/IndependentMode ....................................... 88
5.11TimeAutoSynchronizationMode ...................................... 90
5.12 Control Panel MCP4000 with 6” Color LCD, the LCD GUI . . . . . . . . . . . . . . . . . . . . . . . . . 90
5.12.1 MainView .............................................. 90
5.12.2 ParametersView ........................................... 94
5.12.3 RightPanel.............................................. 94
5.12.4 LeftPanel............................................... 96
5.12.5 StatusBar............................................... 98
5.12.6 ConfigurationMenu ......................................... 99
5.12.7 ModesandFunctions......................................... 100
5.12.8 Values Setting in the AutoPos and HDG Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
5.12.9 CPOrientation ............................................ 100
6 Thrusters 101
6.1 ThrusterWindows............................................... 101
6.1.1 ThrusterSoftkeys........................................... 101
6.1.2 Thrust Ability Diagram (Auto Thruster Window) . . . . . . . . . . . . . . . . . . . . . . . . . . 102
6.1.3 Thrusters State Table (Manual Thruster Window) . . . . . . . . . . . . . . . . . . . . . . . . . . 105
6.1.4 Manual Thruster Controls (Manual Thruster Window) . . . . . . . . . . . . . . . . . . . . . . . 106
6.1.5 Thruster View (Auto Thruster Window) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
6.2 ThrusterOperation .............................................. 111
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NAVIS NavDP 4000. Operation Manual
6.2.1 Thrusterstatus ............................................ 111
6.2.2 ThrustDemand............................................ 111
6.2.3 ThrusterControl ........................................... 112
6.2.4 Interface with the Thrusters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
6.3 ThrusterAllocationFunction......................................... 115
6.3.1 TALModes.............................................. 116
6.4 Power Monitoring and Blackout Prevention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
6.4.1 PowerMonitoring .......................................... 118
6.4.2 Generator/Engine Overload Protection and Blackout Prevention . . . . . . . . . . . . . . . . . . 119
6.4.3 PowerAlarms............................................. 119
6.4.4 PowerView.............................................. 119
6.4.5 Indication of Blackout Prevention Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
6.4.6 Powertrendview........................................... 125
6.4.7 Failuremodes............................................. 125
7 Sensors 126
7.1 SensorsDataProcessing ........................................... 126
7.1.1 SensorsPriority............................................ 126
7.1.2 Sensors Fault Detection and Redundancy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
7.1.3 DataProcessingResults ....................................... 126
7.2 SensorInterfaceandOperations ....................................... 126
7.2.1 NavigationBar ............................................ 127
7.2.2 Parametersprotection......................................... 127
7.2.3 Sensor Softkey and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
7.2.4 SensorSoftkey ............................................ 128
7.2.5 DataFilterIndicator ......................................... 129
7.2.6 DataIndicator............................................. 129
7.2.7 PrefferedSensorIndicator ...................................... 129
7.2.8 Sensors Raw and Used Data Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
7.2.9 DataProcessingResults ....................................... 130
7.2.10 PrioritySetting ............................................ 130
7.3 SensorsDetails ................................................ 130
7.3.1 GyroSensorDetails ......................................... 131
7.3.2 WindSensorDetails ......................................... 133
7.3.3 Vertical Reference Sensor (VRS) Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
7.3.4 LOGDetails ............................................. 134
7.3.5 DraftDetails ............................................. 135
7.3.6 TensionDetails............................................ 137
8 Position References 139
8.1 CoordinateSystems.............................................. 139
8.1.1 TargetOffset ............................................. 140
8.2 NoiseestimationandWeights......................................... 143
8.3 Biasing .................................................... 143
8.4 OriginRef-system............................................... 143
8.5 Absolute and Relative ref-systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
8.6 Position Reference Systems Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
8.7 Position Reference Failure Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
8.8 Ref-system Interface and Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
8.8.1 General................................................ 144
8.8.2 Ref-system Softkey and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
8.8.3 Selecting Origin Ref-system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
8.8.4 Detailed Information for Ref-system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
8.8.5 Detailed Information for DGPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
8.8.6 Parametersprotection......................................... 152
8.8.7 Detailed Information for Hydroacoustic System . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
8.8.8 Detailed Information for Laser Radar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
8.8.9 Detailed Information for Taut Wire System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
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CONTENTS
9 Control Modes 160
9.1 General .................................................... 160
9.2 HeadingControlModes............................................ 161
9.2.1 Manual Heading (“Knob” mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
9.2.2 ROTHeadingMode ......................................... 161
9.2.3 AutoHeading............................................. 162
9.2.4 RelativeBearingtoTarget ...................................... 163
9.2.5 HighSpeedTracking......................................... 163
9.2.6 HeadingbyLowSpeedTrack .................................... 164
9.3 PositionControlModes............................................ 165
9.3.1 ManualPosition ........................................... 165
9.3.2 AutoPosition............................................. 166
9.3.3 ManualSurge............................................. 166
9.3.4 ManualSway............................................. 167
9.3.5 SpeedVectorControl......................................... 168
9.3.6 PositionbyTargetControl ...................................... 169
9.3.7 Position mode: LS Track Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
10 System Functions 171
10.1 Remote Center of Rotation (Pivot Point) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
10.2AutomaticWindCompensation........................................ 173
10.3Minimalpowerheading............................................ 176
10.4HoldArea................................................... 178
10.5TargetFollowing ............................................... 180
10.6Tracking.................................................... 189
10.6.1 TrackControlActivation....................................... 189
10.6.2 TrackFollowingStrategy....................................... 189
10.6.3 TrackWindow ............................................ 190
10.7AutopilotFunction .............................................. 201
10.7.1 Dodgemode ............................................. 203
10.7.2 Automatic Speed Control function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
10.7.3 Manualposition ........................................... 204
10.7.4 Steering System Monitoring Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
10.7.5 HeadingMonitorfunction ...................................... 206
10.8CapabilityAnalysis.............................................. 207
10.9DriftAnalysis................................................. 218
10.10ConsequenceAnalysis ............................................ 227
10.11CPUTemperatureMonitoring ........................................ 231
10.12System Diagnostics Function. System Monitor Window . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
10.12.1 Component State Indication on the Mimic Diagram . . . . . . . . . . . . . . . . . . . . . . . . . 235
10.12.2ComponentStateTables ....................................... 236
10.12.3 On-line Diagnostics (Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
10.13StatusPagePrinting(Option)......................................... 239
10.14DPFootprintPlot(Option) .......................................... 242
11 Simulator 245
11.1Built-inTrainerFunction ........................................... 245
11.2SimulatorSettings............................................... 245
11.3Operation ................................................... 246
Index 247
A Synchronized/Independent Modes for DP-2 Systems (Visual) 250
B Alarm Messages List 251
C Parameter Description 263
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NAVIS NavDP 4000. Operation Manual
D Sensors and Ref-Systems Raw Data 277
D.1 SensorsRawData............................................... 277
D.2 Ref-SystemsRawData ............................................ 284
D.3 VDRDataStandard.............................................. 291
E Routes transferring and uploading 300
E.1 RTEMessages:Routes ............................................ 300
E.2 WPLMessage:WaypointLocation...................................... 300
F Route Format 301
G DPShell Service Utility 302
G.1 Standard Configuration (with a Touchscreen Display) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
G.1.1 Entering the Service Menu on DP/IJ Computer . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
G.1.2 Leaving the Service Menu on DP/IJ Computer . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
G.1.3 CreatingFeedbackPackage ..................................... 304
G.1.4 Copying Feedback Package to USB Flash Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
G.1.5 Sending Feedback Package to Navis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
G.1.6 DeletingFeedbackPackages..................................... 306
G.1.7 DP/IJSoftwareUpdate........................................ 306
G.1.8 Installing Update Package on Control Computer . . . . . . . . . . . . . . . . . . . . . . . . . . 307
G.1.9 Obtaining NAVIS NavDP 4000 Active Version Information . . . . . . . . . . . . . . . . . . . . 308
G.1.10 Switching the Active Version of NAVIS NavDP 4000 on Control Computer . . . . . . . . . . . . 308
G.1.11ConfigurationMenu ......................................... 308
G.2 MonitorlessConfiguration .......................................... 310
G.2.1 DPShell First Start on the Control Panel of DP/IJ Station . . . . . . . . . . . . . . . . . . . . . . 310
G.2.2 Routine Entering the Service Menu on the Control Panel of DP/IJ Station . . . . . . . . . . . . . 311
G.2.3 Leaving the Service Menu on DP/IJ Control Station . . . . . . . . . . . . . . . . . . . . . . . . . 312
G.2.4 CreatingFeedbackPackage ..................................... 313
G.2.5 Copying Feedback Package to USB Flash Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
G.2.6 Sending Feedback Package to Navis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
G.2.7 DeletingFeedbackPackages..................................... 314
G.2.8 DP/IJSoftwareUpdate........................................ 315
G.2.9 Installing Update Package on Control Computer . . . . . . . . . . . . . . . . . . . . . . . . . . 315
G.2.10 Obtaining NAVIS NavDP 4000 Active Version Information . . . . . . . . . . . . . . . . . . . . 316
G.2.11 Switching the Active Version of NAVIS NavDP 4000 on Control Computer . . . . . . . . . . . . 316
G.2.12ConfigurationMenu ......................................... 317
H Data Logging 319
H.1 General .................................................... 319
H.1.1 LocalDataLogging ......................................... 319
H.1.2 Advanced Network Data Logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
H.2 Logging Settings on DP/IJ Stations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
H.2.1 LoggingArea............................................. 320
H.2.2 CurrentLogArea........................................... 324
H.2.3 The Overload Protection in the “Continuous” Mode . . . . . . . . . . . . . . . . . . . . . . . . . 327
H.2.4 DiskSpaceControl.......................................... 327
H.2.5 Screenshot .............................................. 327
H.3 DataLoggerConsole ............................................. 327
H.3.1 DLConsoleWindowAreas ..................................... 327
H.3.2 Softkeys................................................ 328
H.3.3 Data Export (“Records...” Softkey) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
H.4 DataLoggerAnalyzer............................................. 332
H.4.1 DLAMainWindow ......................................... 332
H.4.2 MainWindowSoftkeys........................................ 332
H.4.3 OperationwithCharts ........................................ 335
H.4.4 OperationwithTables ........................................ 336
H.4.5 Addition of Tables and Custom Charts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
H.5 LoggingtoExternalVDR........................................... 339
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CONTENTS
I Services 341
I.1 SignalMonitorUtitity............................................. 341
I.2 PLCFaultsUtitity............................................... 341
I.3 AlarmViewer................................................. 341
I.4 COMPortsMonitorUtitity.......................................... 341
I.5 TouchScreenCalibration........................................... 342
J Error Codes 343
J.1 General .................................................... 343
J.2 CCErrorcodes ................................................ 343
J.3 PLCErrorcodes ............................................... 343
J.4 Examples ................................................... 344
K The Trend View Diagrams List 345
K.1 DataClasses.................................................. 345
K.2 DataGroupsandItems ............................................ 345
K.2.1 Power................................................. 345
K.2.2 Thruster Commands and Feedbacks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
K.2.3 Forces................................................. 345
K.2.4 SensorsData ............................................. 346
K.2.5 REFSystemsData .......................................... 346
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NAVIS NavDP 4000. Operation Manual
Abbreviations
ACK Acknowledge
AP Autopilot
AWC Automatic Wind Compensation
BOD Bearing Origin Destination
BTW Bearing To Waypoint
CB Communication Box
COG Course Over Ground
COR Center of Rotation
CP Control Panel
CPP Controllable Pitch Propeller
CPU Central Processing Unit
DGPS Differential Global Positioning System
DP Dynamic Positioning
DTW Distance To Waypoint
EBL Electronic Bearing Line
ECDIS Electronic Chart Display and Information System
FAA Federal Aviation Administration
FPP Fixed Pitch Propeller
GPS Global Positioning System
GUI Graphic User Interface
HDG Heading
HDOP Horizontal Dilution Of Precision
HM Heading Monitor
HPR Hydroacoustic Position Reference
HS Track High Speed Track
HSC Heading Control System
I/O Input/Output
IJ Independent Joystick
JB Junction Box
JDP Joystick/Dynamic Positioning
LCD Liquid Crystal Display
LED Light-emitting Diode
LS Track Low Speed Track
MAN Manual
MCP Main Control Panel
NWU Network Unit
PCB Printed Circuit Board
PCP Portable Control Panel
PLC Programmable Logic Controller
PMF Power Monitoring Function
PMS Power Monitoring System
PRS Position Reference System
PSU Power Switch Unit
PWR-DU Power Distribution Unit
RMS Root Mean Square
ROV Remotely Operated Vehicle
RPM Revolutions Per Minute
SI-DU Serial Interface Distribution Unit
SOG Speed Over Ground
SP-U Surge Protection Unit
STBD Starboard
TAL Thrust Allocation Logic
UPS Uninterruptible Power Supply Unit
VDR Voyage Data Recorder
VRS Vertical Reference Sensor
WP Waypoint
XTE X-Track Error
9Doc. 000.JDP-10000-OME, rev.3.3.13/“2102.$–17A-Advanced”

System Principles and Functionality
Chapter 1
System Principles and Functionality
1.1 Introduction
This document describes the NAVIS NavDP 4000 system. NAVIS NavDP 4000 is a DP control system providing an
all-weather vessel motion control in different ways. NAVIS NavDP 4000 is the family of systems.
More usual types are listed below.
Stand-alone single DP control system (DP-0)
NAVIS NavDP 4011 DP Control Station
Single DP system with integrated joystick system (DP-1)
NAVIS NavDP 4011 DP Control Station
NAVIS NavDP 4001 IJ Control Station
Dual-redundant DP system with integrated joystick system (DP-2)
NAVIS NavDP 4022 DP Control Station
NAVIS NavDP 4002 IJ Control Station
More detailed information see in Chapter 2, page 15.
With the system the Operator controls the vessel:
– moving;
– heading;
– position.
The calculations are done with allowance for the forces applied to a vessel like wind, current and waves.
NAVIS NavDP 4000 gets data both sensor and manual inputs. The manual input (position and heading settings) is
available in any mode.
To provide the specified moving the set of control signals (rpm, pitch or azimuth angles, etc.) for every thruster is
generated. The calculation is based on the received data.
NAVIS NavDP 4000 controls the vessel in three coordinate axes — surge, sway and yaw.
The coordinate values can be set in the following ways:
– manually — the operator set all coordinate values;
– automatically — all coordinate values are controlled automatically;
– automanually — some of coordinates are set manually while the others are controlled automatically.
Manual control is provided with joystick and rotary knob.
Information is displayed on the LCD with a touchscreen.
The touchscreen is used to set the information to display, to select a control mode and to enter data (setpoints, root
data, limitations, etc).
NAVIS NavDP 4000 applications are run under Windows 7 PRO.
1.2 System Principles
This section gives an overview of the NAVIS NavDP 4000 principles illustrated in Figure 1.1.
The coordinate system is the Figure 1.2
Where:
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Figure 1.1: NAVIS NavDP 4000 principles
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System Principles and Functionality
Figure 1.2: NAVIS NavDP 4000 Coordinate systems
Nnorth
Eeast
Xthe bow direction axis placed at midship line and parallelly to the still-water surface
Ythe starboard direction axis placed at midship line and parallelly to the still-water surface
Zthe vertical axis as perpendicular to the the still-water surface
HDG heading
Vthe vessel course and speed vector
Vx, Vy proper projections of velocity
The diagram contains also the current, wind and waves directions references.
1.2.1 Vessel Model
The base of the NAVIS NavDP 4000 system is a mathematical model describing the vessel’s moving as a function of
the forces applied to. The vessel model is applied to get a noise free estimation of the vessel position, heading and speed.
A lot of parameters such as vessel mass, draft, hull form, propulsion type and arrangement, superstructure and location
etc are used in the model.
1.2.2 Wind Model
A wind model is used to calculate the wind forces and moment as a function of the wind speed and direction. The
model is based on the aerodynamic vessel description, and includes a set of coefficients for various angles of attack. So,
the wind speed and direction values mentioned above, as well as the vessel heading, are used to calculate the wind induced
forces in the surge and sway axes and the moment. Information about the wind induced forces and moment is then used
to implement a feedforward loop into the overall control signal.
1.2.3 Thruster Model
A thruster model is based on thruster hydrodynamic characteristics. This model uses the feedback signals from the
thrusters calculating thruster forces.
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1.2.4 Vessel Model Update
The vessel model doesn’t provide an accurate description of the vessel dynamics. The wind and thruster forces, as well
as the hull hydrodynamics are simulated only approximately. As to the current speed and direction, they are not measured
but calculated. Finally, the DP control system doesn’t cancel out a high-frequency wave induced forces, because these
forces are greater than the thruster ones. Therefore, to use the position and heading determined values by controller the
data is filtered to exclude a wave induced component.
To update the model extended Kalman filter is used. The method provides the effective noise filtering of the position
and heading data. The vessel model update algorithm applies the measured data from reference systems and sensors and
the data predicted by the model to calculate a position and heading difference, which is applied to the model update.
The Kalman filter technique provides an optimal estimation of ship moving parameters and those of current. Moreover,
it provides so calling “dead reckoning” positioning (only for a short period of time) if there are no further model updates.
1.2.5 Operator Commands
The DP operator switches the system to the mode and input commands providing a required maneuver.
A rotary knob is used to generate the required moment.
A joystick is used either to generate a control force vector both the surge and sway directions or to set required vessel
speed (both the surge and sway directions). The thrusters provide the control force and speed.
To input data(position and heading setpoints, route parameters etc.) a touchscreen is applied.
1.2.6 Set Point Algorithm
The NAVIS NavDP 4000 system provides the vessel moving according to the operators’ commands and selected
mode. The Set Point Algorithm transforms operator commands to detailed instructions to Optimal Controller. For in-
stance, the track following mode includes several tasks, such as:
– track specification
– obtaining s pecified track
– following a track leg
– following a new leg etc
Each task is described as a particular control problem, and is solved using a particular algorithm.
1.2.7 Optimal Controller
The Optimal Controller provides a vessel position and heading, as well as the vessel speed.The parameter values are
input by operator.
The controller produces a force required to move a vessel to a specified position or to steer course. The force is
proportional to an error of the vessel model position values.
The controller produces the force required to provide the given speed. The force is proportional to an error of the
vessel model speed value.
When solving this problem, the Optimal Controller accounts for the manual control forces (if any) and the feed forward
control loops (wind compensation)forces.
To cancel out unmodelled and unmeasured forces (current and mathematical model errors)an integral feedback loop
is used.
The thrusters provides resulting control forces along the both axis and the turning moment.
1.2.8 Sensors and Position References Systems Data Processing
The DP control system receives information from sensors and ref-systems.
DGPS furnish the DP control system the vessel position information, while gyrocompass conveys the vessel heading
data.
VRS transfers roll and pitch values.
Wind sensor measures the wind speed and direction.
The information from sensors is continuously processed for the purpose of detecting possible data errors. An operator
can assign sensors to be used, and estimate validity of obtained data.
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System Principles and Functionality
1.3 Basics of System Operation
An operator sets control mode and inputs data via Control Panel and LCD touchscreen.
With entered data Control Computer calculates position and heading setpoints, route parameters, force and turning
moment values demanding to provide the specified moving etc. Also, Control Computer receives feedback signals from
actuators and data from sensors and reference systems.
Signals from sensors and reference systems are processed with the purpose of fault detection, and then are used to
calculate scope of vessel coordinates and speed.
After being provided by different sensors, the estimates are weighted to obtain the best.
The estimated and preset data are compared in the Optimal Controller, which calculates the force demand in the surge
and sway axes, as well as the turning moment demand. These demands are transformed into actual control commands for
actuators, with the actual power and individual thruster rpm/angle/etc limits taken into account.
The commands for thrusters, represented in terms of rpm and rudder angles, are transformed into current and/or
voltage signals via special calibration tables, obtained earlier on the stage of calibration.
The demanded values of current and/or voltage control signals are transferred to PLC, and then PLC produces the
required current and voltage on its outputs. The actuators receive the signals from PLC and yield desired rpm and angles.
All the information about the control system operation and the vessel position and moving, including raw sensor data
and smoothed estimates, desired and actual thruster rpm/angles, position and heading offsets, enabled thruster configura-
tion, etc is displayed.
In case of a system fault or a situation which may affect the system performance, an alarm message is produced and
appears on the screen, and can also be printed in real time, if the Alarm Printer is connected.
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Chapter 2
System Hardware Configuration
As mentioned above, NAVIS NavDP 4000 is the family of systems.
The NAVIS NavDP 4000 system types in accordance with IMO classification system are listed below.
Stand-alone single DP control system (DP-0)
NAVIS NavDP 4011 DP Control Station
Single DP system with integrated joystick system (DP-1)
NAVIS NavDP 4011 DP Control Station
NAVIS NavDP 4001 IJ Control Station
Dual-redundant DP system with integrated joystick system (DP-2)
NAVIS NavDP 4022 DP Control Station
NAVIS NavDP 4002 IJ Control Station
Class DP-0 System Configuration
The Figure 2.1 represents the NAVIS NavDP 4000 standard hardware configuration of IMO Class DP-0 System. The
system contains the following sensors:
– Gyro
– DGPS
– Wind
– VRS
The sensors are connected to the Control Unit via Operator station junction box (JB) while the Thruster system is
connected directly to the Control Unit.
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System Hardware Configuration
Figure 2.1: Typical NAVIS NavDP 4000 for DP-0 Class Ship Hardware Configuration
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Class DP-1 System Configuration
The NAVIS NavDP 4000 typical hardware configuration for IMO Class DP-1 System is presented in Figure 2.2. The
configuration contains two control systems — IJ and DP and the following sensors:
– Gyro — 2
– DGPS — 2
– Wind — 2
– VRS — 2
– HPR — 1
– LR — 1
All sensors are connected to the DP Control Unit via the DP Operator station junction box. Some of them (e.g. Gyro,
DGPS, Wind) are also connected to the I Control Unit via the IJ operator station junction box. The Thruster system is
connected to the both Control units.
Control transfer between the NAVIS NavDP 4011 and NAVIS NavDP 4001 is performed manually by means of the
Mode Selector which is supplied together with NAVIS NavDP 4000.
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System Hardware Configuration
Figure 2.2: Typical NAVIS NavDP 4000 for DP-1 Class Ship Hardware Configuration
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Class DP-2 System Configuration
The NAVIS NavDP 4000 of IMO Class DP-2 is a redundant DP control system that contains the NAVIS NavDP 4002
IJ control station and two DP control stations NAVIS NavDP 4022: main (DP-A) and backup (DP-B).
The NAVIS NavDP 4022 is designed to operate the distributed I/O system via the redundant data communication link
(redundant DP network). This communication link provides communication between the main and backup control units.
The system contains the following sensors:
– Gyro — 3
– DGPS — 2
– Wind — 3
– VRS — 3
– HPR — 1
– LR — 1
All sensors are connected both to the main and to the backup junction boxes. Some of them (e.g. Gyro, DGPS, Wind)
are also connected to the IJ junction box.
The NAVIS NavDP 4022 is designed so that no single failure of any unit should result in case of loss of the remaining
equipment’s ability to maintain a vessel position.
The NAVIS NavDP 4000 typical hardware configuration for IMO Class DP-2 System is presented in Figure 2.3.
Each thruster is connected to the control unit via the own I/O unit.
The NAVIS NavDP 4002 system uses an individual bus to communicate with the I/O units. The main and backup
systems use the shared one.
Each of the control systems (IJ, DP-A and DP-B) can be switched on and off independently of each other. Con-
trol transfer between the NAVIS NavDP 4022 and NAVIS NavDP 4002 is performed manually by means of the Mode
Selector.
Control transfer between DP-A and DP-B control systems can be performed manually by the operator (using control
panel — see Section 2.6, page 37), or automatically in case of failure.
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