Kongsberg Maritime

K-Pos
Sensors and Sensor input management

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Kongsberg Maritime

Sensors on Corcovado

DP Main: DP OS 1 & 2 and TC OS5

• 3 x Gyros
• 3 x Wind sensors
• 3 x VRS
• 1 x Speed (GPS speed from NAV GPS)
• 4 x Draught

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Sensors on Corcovado

DP Backup: DP OS 4
• 1 x Gyro (Gyro-3)
• 1 x Wind sensor (Wind-3)
• 1 x VRS (VRS-3)
• 4 x Draught

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Kongsberg Maritime

Sensors on Corcovado

iJoy:
• 1 x Gyro (Gyro-1)
• 1 x Wind sensor (Wind-1)

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Main sensors

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Kongsberg Maritime

Heading Sensors – For automatic heading control

• 3 x C.Plath Navigat X gyrocompass

• All enabled - One Preference
• Sensor failures
• Voting

C. Plath gyrocompass
Navigat X
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Heading Sensors – For position calculation

• Conversion from • Position calculation

antenna position for relative PRS:
to vessel’s centre:

Antenna
position

Vessel
position
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Kongsberg Maritime

Heading sensors – Alarms and messages

• Gyro difference
• Gyro x rejected
• Gyro x prediction error
• Heading dropout
• Gyro x not ready
• Gyro not enabled
• Heading monitor requires 2nd source
• Heading out of limits

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Vertical Reference Sensors - VRS

• Measuring Pitch, Roll (and Heave)

• 3 x Kongsberg Seatex MRU 5
• All enabled - One Preference
• Sensor failures
• Voting

MRU-5

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Kongsberg Maritime

VRS Purpose: Pitch & Roll compensation

Position
measured by Vessel centre
GPS position
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VRS – Alarms and messages

• VRS difference
• VRS x rejected
• VRS x prediction error
• VRS x not ready
• VRS not enabled

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Kongsberg Maritime

Heading, Pitch & Roll – Input to HiPAP

• Conversion to vessel’s centre

is made by HiPAP system
before position is sent to DP
• Gyro & VRS used by HiPAP is
independent of Preference-
sensors used by DP

Heading Input
Pitch & Roll
Input

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Wind sensors

• Wind Feed-Forward

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Measured Measured Wind Speed & Direction

Position & Heading Wind Draught Input
Model
Error
Kalman Comp. Wind
Filter
Error
force Force
Position & Computation
Heading Current
Predicted Vessel
Difference
Position & Model External
Heading Update Forces

Thruster
Vessel Model
Force
Estimated Speed Settings
Drag Position & Carrot
Estimated
Force Speed Heading New Setpoint Computation

Position & Heading

Draught Input Drag Position & Present Setpoint
Computation Heading
Deviation

Damping Gain Selected

Control Control Gain

Demand from Joystick

Joystick Force
Joystick
Demand Feed Forward
Gain
Controller
Resulting Force
Demand
Joystick
Settings Thruster
Allocation Thruster Allocation Mode

Thruster
Setpoints

Thruster Power Generator Status

Overload Bus Switch Status
Model
Control
Power Consumption
Thruster Thruster
Feedback Setpoints
Thruster Thruster
Feedback Thrusters Command
System System

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Wind sensors

• Wind Feed-Forward
• 1 x Gill WindObserver II (Wind 2)
• 2 x OMC 160 (Wind 1 & 3)
• Consider how many enabled
• Sensor failures, wind shadows,
false wind
• No Voting

Gill WindObserver II Observator Instruments BV, OMC 160

Ultra sonic sensor Mechanical sensor
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Kongsberg Maritime

Wind sensors – location on the vessel

• Preference the sensor in the best location –

according to the wind direction

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Wind sensor - wind shadow

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Kongsberg Maritime

Wind sensor – exposed for wind

WIND
WINDSENSOR WIND
EXPOSED

FORCE OF WIND
EXAGGERATED
AT WINDSENSOR
VESSEL HULL AND STRUCTURE
PLATFORM
SUPERSTRUCTURE
IN WINDSHADOW
WINDSENSOR EXPOSED
TO FULL FORCE OF WIND

VESSEL IN LEE OF
PLATFORM

EVERY GUST CAUSES

VESSEL TO DRIVE
TOWARD PLATFORM
AND LOSE HEADING
VESSEL
EXCURSION

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Wind sensor – false wind – helicopter

DOWNDRAFT FROM HELICOPTER

ROTOR BLADES MAY CAUSE
WINDSENSOR TO INPUT FALSE
HIGH VALUES THUS DESTABILISING
THE DP CAPABILITY

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Kongsberg Maritime
Wind sensor – false wind – platform exhaust

WINDSENSOR PROBLEM - PLATFORM EXHAUST

PLATFORM
GENERATOR
EXHAUST

WINDSENSOR

GENERATOR START CAUSES

LOCALISED "GALE" AT THE
WINDSENSOR.

VESSEL REACTS WITH A

VIOLENT DRIVE TOWARD
THE PLATFORM

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Wind – Alarms and messages

• Wind difference
• Wind x sensor rejected (not because of voting)
• Wind x not ready
• Wind not enabled

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Kongsberg Maritime

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Draught sensors on Corcovado

• 4 x Draught sensors
• Select either: Sensor, Operational, Transit or Manual
• When Sensor is selected: Average between sensors
enabled are used to calculate Used Draught
• Clip limits Corcovado: Max limit: 14.4m, Min limit: 6.8
• Purpose:
Measured Wind Speed & Direction
Wind Draught Input
Model
Wind
Force

External
Forces

Vessel Model
Drag
Estimated
Force Speed

Draught Input Drag

Computation

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Kongsberg Maritime

Draught – Alarms and messages

• Draught limit reached

• Draught x sensor rejected (not because of voting)
• Draught x not ready
• Draught not enabled

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Speed Sensors on Corcovado

• 1 x GPS Speed (NAV GPS)

• Manual Speed can be selected
• Only used in Auto Pilot mode
• Purpose: To improve Vessel Model in higher speeds

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Kongsberg Maritime

Speed – Alarms and messages

• Speed GPS x high noise

• Speed GPS x prediction error
• Speed x not ready
• Speed sensor dropout

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Summary

• Main sensors fitted on all DP vessels

• Gyro
• VRS
• Wind
• Other sensors fitted on Corcovado
• Draught
• Speed
• Purpose & Sensor input management
• Alarms and messages associated with sensors

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