DP Systems

Dynamic Positionning systems allow a vessel to remain at a fixed point independent of the influences of
the environment. This is achieved by a system of reference points, sensors and propulsive power units.
The reference points determine the vessels position relative to a datum, they do not necessarily determine
the vessels exact location on the earths surface- only DGPS attempts to do this.
Sensors monitor the environmental effects on the vessel, such as the effects of swell and wind and use
this to error compensate the reference systems.
Propulsive power units tae the form of the main propulsion unit, thrusters and steeering gear system ! in
con"unction with propulsive unit#. These units are mounted for and aft and may be either fixed or
steerable.
The number of reference systems, sensors and propulsion units is determined by the re$uired duties of
the vessel
Types of reference systems
This is a non exhaustive list of the types of reference systems available;
Differential GPS- The reliability of this system is very much dependent on the location and can
range from good to very poor
Microwave !rtemis"- #s limited in that it is a line of site only system$ the advantage is that a
communication lin% is available and emergency shut down systems are sometimes built in
&aser 'anbeam"- This cheap reference can be initially very reliable reducing as the target
becomes dirty or due to atmospherics( #t is a line of site reference
!coustic )P*"-+an be reliable but is reliant on batteries in portable transponders no
limitation exists with fixed transponders"
Taut ,ire- -ery reliable simple system( +an introduce movement restrictions when in use(
Taut Wire
% substantial weight is lowered to the sea bed
attached by a high tensile steel wire or minimum diameter ! reduces effect of current#.
The wire passes through a Gimball head which is free to move in & and ' axis up to the mechanical
limitations of the assembly. The angle the head is at relative to the vertical for the & axis and hori(ontal
for the ' axis is measured by potentiometers and sent to the DP computer. The wire length is measured
by a line out counter and sent to the DP computer. )ith the weight on the bottom contant tension is
placed on the wire eeping it taut, this is achieved by having a constant rpm electric motor coupled to the
wire drum via an electric clutch. The field current on the clutch determines the degree of coupling and
thereby the degree of tor$ue ! note that this tor$ue if far to small to lift the weight and a seperate
hydraulic motor is provided#.
%s the vessel moves the angle between the head and weight as well as the wire length will
alter. % calculation is made by the DP computer which gives the vessels relative position to the weight.
*essel movement through wave action is measured by the accelerometers and factored in.
Shown is a system which is deployed from the ships side, a limitation is placed on the vessels
movement towards the weight when the vessel is +waled+ ! say moving into position or following an ,-*#.
% second system would be mounted on the opposite side. %lternately a single system may be fitted
operateing through a moonpool in the centre of the vessel.
The si(e of the weight ! and corresponding wire diameter# is determined by the depth that the
vessel operates and the operating conditions the vessel wors in. Typically they would be not less than
./01g
Described is a vertical taut wire system. %lso avaible are hori(ontal taut wires which give the
same degree of reliability without the need for the clump weight. The disadvantage is that they must be
manually tethered.
Laser (fanbeam)
This is an auto tracing system whereby a scanning head fires a laser beam through one lens and receives
a reflecion of it through a second
The targets must be e$uiped with reflectors, reflective white tpae may be used but the range
is very limited. Greater distance is achieved prisms. .20+ coverage is achieved by mounting these prisms
on a tube.
Position reference is by the laser ! this is a class one low power unit similar to that found in
3D players# scanning for the target. The bearing and range of the target is found and by calculation using
error correction from the vertical reference units the movement between the two points is nown.
Differential GPS
The GPS signal from a satellite does not give the degree of accuracy re$uired for a vessel positioning
system. To improve accuracy differential GPS is used
% satellite signal is received by both the vessel and by an installation whose position is
precisely nown. %ny error in the signal from the satelite is converted into and error correction signal
which is then broadcast. This signal is received by the vessel, a calculation is made and a more precise
position now nown.
This system is inherently risy for vessels woring in critical postions and it is often re$uired
that GPS be not used as both of the minimum two sources re$uired. The gps signal is sometimes
intermittent as is the error compenstion signal, they are effected by relection from nearby installations
and by ionospheric variation. 4ultiple stations are used to improve accuracy
Microwave (Artemis)
This consists of two stations. -ne unit mounted on a fixed installation, a second unit mounted on the
vessel. These units consist of a rotateing antenna. )hen initialised both units rotate untill they point at
each other. 4anual control is available to speed this up. -nce they have ac$uired each other the antenna
horns point continuously at each other
The fixed unit now nows the relative postion of the vessel to itself by measurement of the angle of the
+antenna relative to north. The microwave connection gives the relative distance of the vessel. This
information is given to the vessel. %s the vessel moves there will be alterations in the distance and the
bearing between the units. %n error correction is made for changes in the ships heading measured by the
G',-.
Hyro Acoustic (HP!)
This system consists of an acoustic transponder and a sensor mounted on the vessel. The transponder
may be fixed to the sea bed or installation re$uired , be lowered to the sea bed as re$uired from the
vessel or be attached to a moving unit such as a diver or ,-* to allow the vessel to +watch+ the now their
location.
The sensor may be fixed so that it loos in one direction only, or tracing where it can move
to locate several targets. To prevent interference from the vessels hull the sensors are normally mounted
on a long pole which may be lowered through an isolation valve . The installation allows access to the
sensor head for maintenance
The system is sub"ect to variations in water temperature and salinity which effects the sound
velocity. %t water stratification layers a degree of refraction occurs to the wave.
Sensors
Win- This measures both the wind speed and wind direction. % calculation based on parameters such as
vessel topside area is made on the effect of the vessel. This signal is fed forward to the DP 3omputer so
that action may be taen before the vessel moves off station
Gyro-4easures the vessels heading giving error correction for such reference systesm as artemis.
"ertical reference #nit-used to measure the vessels pitch and roll and used as error corrections on such
reference systesm as taut wire, artemis etc.
Drau$%t-5sed on vessels sucha s heavy lift where ships operations may significantly effect the draught of
the vessel
Dra$%ea &orce-5sed on dredges where the vessels forward spped is governed by the loading of6n the
draghead
There is generally no current measurement, instead the current is calculated by the DP
computer which loos for a permenant off set in the thrust re$uired to eep the vessel in position.
Depending on the class of vessels all sensors may be duplicated
&unctions of t%e DP system
Moes
Manual control- The vessel is operated by "oystic but in built protection such as for blac out are still
available
Auto Position 'ontrol- The operator enters a position and the dp system moves the vessel
Auto trac( control -The vessel moves at slow speed between several waypoints
Auto sail 'ontrol-The vessel moves at high speed between several waypoints
Autopilot 'ontrol- The vessel follows a dtermined course using the functions of the DP system
compensating for enviromental effects
&ollow Tar$et- The vessel follows a moving target such as an ,-* or Diver.
!eliability an wei$%tin$
% minimum of three reference points is re$uired for a diving operation. 7or example tautwire, DGPS and
8P,.
9ach of these systesm have a nown reliability record. The DP computer +weights+ the measured position
depending on the nown reliability , say 20: for the taut wire, and ;0: each for the other two. The
position of the vessel determined by each system are unliely to coincide exactly, the computers
measured value position it uses in a combination of the determined positions suitably weighted. <n this
case it would hace the postion closer to where the taut wire believed it was.
Should a fault occur with the taut wire ! say one of the potentiometers on the gimball heads begins
tracing giving a noisy output signal#, then this will be detected and the amount of weighting for that
system reduced, below a certain value and the reference system will be automatically disconnected and a
warning alarm sounded. % continuous read out of the positions from all three systems, the computer
determined postion and the degree of weighting are all permenantly displayed.
)lac( out protection
This taes the form of pitch reduction for the thrusters in the event that the reserve power on the main
switchboard falls below a set value.