ARPA Handouts

AUTOMATIC RADAR PLOTTING AIDS
INDEX
PAGE
S.NO CONTENTS NO
1 INTRODUCTION 2
2 SETTING UP OF RADAR & ARPA 10
3 PAST POSITION/TARGET HISTORY/TARGET TRAILS 15
4 IMO PERFORMANCE STANDARDS 18
5 POTENTIAL POINT OF COLLISION (PPC) 21
6 PREDICTED AREA OF DANGER (PAD) 22
7 WARNINGS & ALARMS 24
8 TRUE MOTION- GROUND STABILIZATION 28
9 MAINTAINING ARPA DISPLAY & OBTAINING INFORMATION 30
10 ERRORS IN ARPA 31
SeaSkills Maritime Academy, Coimbatore 1

1.INTRODUCTION
With increased processing capability, manufacturers have been able to provide facilities additional
to those specified in the IMO Performance Standards, some of which, in particular alerts,
mariners had indicated would be of value.
Further design potential was realized by providing a facility whereby the ARPA would
automatically deduce reliable values for the vessel’s course and speed over the gound by tracking
a designated stationary target. Such a facility, known as automatic ground-stabilization, can
provide a reliable input to the ARPA but it is not the correct input for collision avoidance. The
implications of this are discussed in Section 5.3. This feature is usually available on ATA.
With memory becoming less expensive, the means for the storage and display of navigation lines
and simple ‘maps’ became a possibility, and the availability of automatic ground-stabilization
made it possible to maintain such maps in a fixed position on the screen.
Also, some designers saw the potential for development in other areas, primarily in the provision
of assistance in determining a collision avoidance strategy – notably predicted points of collision
(PPCs) and predicted areas of danger (PADs). Theoretically there is no reason why any of these
additional features could not be applied to an ATA, but as this is sold as a minimum specification
device, it is not likely. In this chapter we will therefore refer to ARPA only.
Objective of the course
 To use radar to the optimum

 To be able to choose an appropriate mode of display
 To use plotting controls, understand & appreciate alarms and its
limitations
 To acquire, track targets to avoid threats in advance. Extract
information
 To understand that over reliance is foolish, since accuracy is
at 95% times correct
 Finally to use ARPA to its full capacity
PURPOSE OF ARPA
1. To reduce the work load by obtaining information automatically so that 'OOW' can
perform well with multiple targets as they can manually plot a single target.
2. To provide continuous, accurate & rapid evaluation.
ARPA should improve the standard of collision avoidance at sea.

Why manual plotting?
(i) in case no ARPA on board.
(ii) in case ARPA not working.
(iii) to understand how ARPA computes various data.
(iv) for better understanding of target movement on the radar screen.
(v) to appreciate that we cannot base our manoeuvres or predictions
on casual radar observation.

ARPA requirement
ALL SHIPS of 10,000 GT + (Built on or after 1/9/84)
TANKERS of 10,000 GT + (even if built before 1/9/84)
ALL SHIPS of 15,000 GT + (even if built before 1/9/84)
IMO RESOLUTION A-482(XII) ANNEX 1.

Every master & officer in charge of a navigation watch on a ship fitted with ARPA shall have
completed an approved course of training in use of ARPA.
THE BASIC ARPA SYSTEM
RADAR input
GYRO input RADAR/ ARPA

ARPA
ARPA DATA DISPLAY
LOG input
COMPUTER
PLAIN RADAR DISPLAY RADAR/ARPADISPLAY
Tgt A
CPA =
TCPA =
A Tco-spd =
R&B=
D C

ALPHA –NUMERICS
The Arpa Data is super-imposed on the Radar screen as shown in the above figures. The Arpa
data of the targets is displayed on the Radar/Arpa screen in the form of
 ALPHANUMERICS - Data boxes outside the PPI, containing the calculated plotting info of
the acquired target, viz., Range & Bearing, CPA, TCPA and True Course & Speed.
 VECTORS - Lines emerging from the target echo, indicating the direction & speed of
target movement on screen (ie., OA - Relative Motion Line) under Relative Vector mode and
Direction of target’s true course & speed (WA) under True Vector mode.
TYPES OF ARPA
Stand Alone Integral Radar /ARPA
(In either case ARPA display should include all data required to be provided by a radar display)
TYPES OF DISPLAY:
(i) Synthetic Radial scan : It is a digital radar display, in which the target echoes paint on the
PPI and remain painted due to the Phosphorescence of the screen.
(ii) Raster scan : It is a television screen type of display. It consists of sensitive phosphorised
picture elements in rows & columns called PIXELS, which form a 'Raster' (lattice). More
the number of pixels, better the clarity of picture.
RECTANGULAR PIXEL
Advantages of Raster Scan Display :
 It is Day view type.
 It uses less computer memory; hence extra memory is available for other ARPA functions.
 Touch screen facilities can be made available.
 Can be photo/ video graphed.
 Infra-red remote control may be made available.

HOW ARPA WORKS?
Echoes received through the Scanner goes to the mixer and combines with the signal from 'LO'
to provide IF signals.
IF signals are amplified and converted to video signals by a Detector circuit at the end of IF
amplifier stage. These analogue video signals are further amplified, filtered and fed to analogue
display. However ARPA computer cannot use analogue signals.
For ARPA, the analogue signal needs to be converted to digital signals and this is done by a
process called 'Quantization'. It is done separately for range and bearing of the echo
and the resulting two binary numbers are stored in a memory called 'Prime Register '
and fed to ARPA computer.
The stored quantized signal is used to form a synthetic radial scan radar display.
For Raster scan radar display the quantized signals is further converted from range/
bearing to X & Y co-ordinates in order that the raster scan recognizes the signal. (Scan
Conversion).

ARPA SECTION :
Digital Filter Tracker& ARPA Data RADAR/ARPA

signal Processor
DISPLAY
Alphanumerics
ARPA processes VECTORS
(i) Acquisition
(ii) Tracking
Rate Aiding
Smoothing
Processing Delay
Filter : It is used to check if echoes from Prime register should be stored for tracking or
rejected. It discriminates between Land echoes and isolated target echoes. The latter is stored for
tracking, whereas the Land echoes are rejected.
Tracker &Processor : It carries out the acquisition, tracking and processing of a chosen
target.
Acquisition : A target can be acquired manually or automatically. A tracking gate opens

centered around the cursor. ARPA searches for the target within this gate (in the computer
memory).
RATE AIDING
Initially when a target is acquired, a large tracking gate around the target is opened in the
memory. Computer stores/ processes target data and predicts the future position of target.
Target echo

Tracking Gate
The gate moves to next predicted position, then the next and so on. As the predicted position and
true position coincides, the accuracy increases and the gate size is reduced progressively. This
continues till the smallest gate size is reached and this size is maintained thereafter. This process
of tracking the target by progressively reducing the tracking gate size is called Rate-aiding.
During Rate-aiding process After Rate-aiding process
On acquiring a target echo, a SQUARE symbol appears around it, indicating that the rate-aiding
process is in progress. The Arpa data during this process should not be relied on.
On completion of the rate-aiding process, Arpa data is said to be accurate, and that’s when the
square symbol around the target echo changes into a CIRCLE, as shown in the figure above.
In case the target alters course or speed, it’s RML would change, in which case, the echo might
fall out of the small tracking gate. If the target is not found in the predicted position, the gate size
automatically increases and tries to pick it up in the increased gate. ARPA then tracks as if the
target is just acquired and follows the above procedure of rate-aiding. The indication of this on the
screen is the changing of the Circular symbol around the target echo, into a SQUARE. The Arpa
data of this particular target during this process should not be relied on.
If own ship manoeuvres, a continuous feed is maintained. However, while performing a huge
unplanned alteration, a continually changing ‘WO’ of the ‘OAW’ triangle gives an unsteady 'WA
and ‘OA’ of all tracked targets.
Hence in abundant precaution, ARPA data should not be relied upon
 For all targets immediately after acquisition.

 For all targets during & shortly after a manoeuvre by own ship.
 For a particular target, during & shortly after it manoeuvres.

In case the target is not found in the enlarged gate for more than 5 out of 10 consecutive scans,
Target Lost Alarm activates and ARPA stops tracking the target.
Advantage of reducing gate size:
i. Improved tracking accuracy , including through clutter

ii. Improved tracking ability, including when target response is irregular.
iii. Lessening possibility of target swap.
SMOOTHING: The co-ordinates of gates are stored in tracking memory called ‘track file'. As in
manual plotting due to various errors all the plotted position on the line OA /WA does not fall in a
straight line. To produce a stable line vector the processor 'smoothes' the track resulting in a
straight ‘OA’/’WA’ line.
Smoothing time
The period within which the observations are considered for smoothing is called smoothing time.
If too long -- tracker loses sensitivity to changes in tracks.

If too short-- ARPA data will fluctuate.
Most systems have 2 smoothing periods. Eg.

(i) The first 1 minute after acquisition - for getting the TREND of the target
(ii) The first 3 minutes after acquisition – for getting the PREDICTED MOTION of the target.
PROCESSING DELAY
The delay in processing the target data is called Processing Delay
Within 1 minute of acquisition, the ARPA computer processes the data and gives the target’s
Motion TREND (ie., approximate direction of the target’s movement). The symbol surrounding the
target is generally, a square. The targets Trend is indicated on the screen by a fluctuating
VECTOR. At this point of time, the accuracy of the target data as given by Arpa is a suspect. The
error in calculated CPA can be as much as 2 nm.
Within 3 minutes of acquisition, the symbol surrounding the target changes (generally, a Circle)
and the ARPA gives the PREDICTED MOTION of the target (ie., exact direction of the target’s
movement).
The targets Predicted Motion is indicated on the screen by a Steady VECTOR.
The accuracy at this point of time is greater than before and acceptable.
Predicted Motion is an extrapolation of target’s current motion.
The accuracy details are available in the performance standards.
Processor : It analyses stored track data and obtains computerised version of the OAW
triangle. This finally results in ARPA data like CPA, TCPA, Target course & speed.

Types of Acquisition : MANUAL & AUTO
Auto tracking: After acquisition, ARPA automatically & continuously tracks and displays
updated information.
Type of Information presentation:

(i) Vectors
(ii) Graphics (PPC/PADs)
(iii) Alphanumeric (using digital readouts)

2. SETTING UP THE RADAR
Setting up the basic Radar:
Unless the Radar is set up properly, weak targets may not be picked up and ARPA cannot
acquire and track a target, if it does not show up on the PPI.
Selection of appropriate Display Presentation & Range Scale.
NORTH-UP (True Motion) - May be good for use on smaller range scales and in congested
coastal waters especially under poor visibility conditions, when there are navigational hazards
and traffic.
COURSE-UP (Relative Motion) - Ideal for comparing radar picture with the view through the
bridge windows. For eg., when navigating through a buoyed channel, entering ports or
encountering traffic in open sea. NORTH –UP (Relative Motion) - In most other conditions this
display is considered to be the best.

Generally, 12 Nm range scale is recommended as the base range scale. It allows ample time for
taking avoiding action in case a target poses danger.
Shorter range scales - to be used for monitoring a close quarter situation Also used to detect
smaller (not very Radar conspicuous) targets.
Longer range scales - to be used occasionally for long range scanning i.e,
For early warning of a risk of collision.
Checking the INPUTS to ARPA:
The Gyro & Log inputs to ARPA should tally with the master equipment. Speed input to ARPA
should be the ship’s Speed over water. This is to match with the gyro course input, which is ship’s
Course through water.
SETTING – UP ARPA
There is no standard method of setting up ARPA. It varies from model to model. It is always better
to check the ARPA manual for the setting up procedure.
However, the general approach to setting up ARPA is as follows.
 Select acquisition mode - Manual or Automatic

 Acquire all the targets
 Select Vector mode (True / Relative)
 Select Vector Length in minutes
 Set minimum safe CPA / TCPA limit
 Switch on past positions or Trails.
 set the guard rings at the desired distance off.
 Carry out operational test before using ARPA data.
Automatic acquisition:
Any target appearing on the screen is automatically acquired. The acquisition takes as per a
given set of criteria in the order of priority. When a new target is acquired, the old one is
deleted (if saturated) in order of priority. Some sets may not have automatic priority selection on
saturation and if target overflow alarm activates, manual cancellation of target may be
required.
Open waters – To set acquisition for the entire radar screen.

Coastal areas – Heavy traffic areas and bad weather conditions, sectors and
exclusion zones may be used to limit the auto-acquisition.
Never use ARPA auto acquisition as a replacement for look out.

VECTOR MODE : Relative and True.
Relative vector
 Represents the OA segment of the OAW triangle.
 It gives immediate assessment of target’s relative motion and thus the threat (i.e, CPA,
TCPA), which indicates whether target is on a Collision course or developing a Close
Quarter situation.
 In a relative motion display, targets move along its relative vector.
 It also indicates whether the target is passing ahead or astern of own ship.
True vector
 Represents the WA segment of the OAW triangle.
 It indicates the True course and Speed of the target.
 It is used to follow the ROR.
 In a True motion display, targets move along its true vector.
 In True vector mode, own ship's vector should be displayed at the electronic centre.
 The Vector mode in use should be positively indicated on the Display.
 Both types of vectors (Relative & True) can be used whether on a Relative Motion or True
Motion display.

RELATIVE VECTOR MODE TRUE VECTOR MODE
A & B – Danger targets A – Crossing from Port side

B – Fast approaching target B – Crossing from Stbd side
C & D – Passing clear

Vector Length (Time scale) Vectors have certain length which is time related. The Time scale
should be positively indicated on the display.
Relative vector length

 The end of the vector indicates target’s predicted position at the end of the time
scale in use (in a Relative Motion display).
 It gives an indication of approximate TCPA.
 The vector length can be increased and used with VRM to assess the CPA, TCPA of those
targets whose details are not at that time available on the target information window.
True vector length

 If ends of target and own ship's true vector meet, this indicates collision.
 If they are close to each other, then it indicates close quarter situation.
Minimum Safe CPA & TCPA
When both the CPA and TCPA settings are violated by the target data, the Danger Target Alarm
sounds.
In Open waters, generally a CPA of 2 Nm and a TCPA of 20 minutes may be appropriate. In

Coastal or congested waters, the danger target alarm might sound quite frequently. In such cases,
the CPA/ TCPA setting may be reduced.
ARPA can have an Error in the CPA by about 0.7nm for a target 8 Nm off. To be on the safer
side, it is always better to set a CPA limit of at least 1 Nm.

3.PAST POSITIONS/ TARGET HISTORY / TARGET TRAILS
ARPA should display on request, at least 4 equally time-spaced past positions over a track
period of at least 8 minutes.
The first past position appears after a time interval has elapsed since target acquisition. The next
appears after another time interval and so on till the maximum number of past positions are
displayed. Thereafter, a new past position appears and the last disappears.
 They are useful to check if a target has altered course or speed.

 It is good for collision avoidance.
 Past positions may be True or Relative.
 When using Relative past positions, change in direction or spacing between them may be
due to change in target’s course or speed or a combination of both. So target’s actual
manoeuvre cannot be ascertained.
 To ascertain target’s actual manoeuvre, True past positions should be used.
 When using True past positions, change in direction indicates alteration of course and
change in spacing between them indicates alteration of speed by the target.
 A smooth line of true past positions indicate that ARPA is tracking the target properly.
TARGET TRAILS:
There are 2 types (A) Real trails (B) Synthetic Trails.
 Real trails are available on Radial scan screen in which the after glow lasts long enough to
produce a trail. Relative Trails appear in RM and True Trails in TM
 Synthetic trails are stored trails seen on Raster-scan screens. These can be switched to
True or Relative independent of the Radar mode. The length may be adjustable.

TRUE PAST POSITIONS
A : Target has increased speed

B : Target has altered course
Types of Automatic acquisition & the Guard Zones
ARPA with Automatic acquisition should have facility to suppress acquisition in some
areas and this acquisition area to be indicated.
Types of Automatic acquisition
Zonal Fully Automatic
 Area (Filtering is used to avoid land etc.

 Sector Selection & Cancellation is on
 Guard zones/ rings priority)
 ARBs
Guard Zones Automatic Acquisition area

A. Tracked after entering guard zone Limits of Auto-acquire

B. 1st appears closer than G zone A. Tracked after entering guard zone
C. Approaches from outside (auto acquire can take any shape)
the Guard zone
B &C are not tracked
ARBs positioned to exclude land and fishing vessels (B)
A - Tracked after entering guard ring.
Fully automatic acquisition type ARPA also requires to have suppression facilities . However
manual acquisition should be possible in suppressed areas.
GUARD ZONE ALARM SYSTEM
ARPA has the capability to warn the observer with a visual and or audible alarm of any target
which closes to a range or transits a zone chosen by the observer. The target is identified with a
flashing symbol on the display.
Precaution: Guard Zone Alarm may not activate when
i. Target first appears closer than pre-set guard ring/ zone.

ii. Target approaches from outside auto acquire area or sector.
iii. When faint echoes fade off just while entering the guard zone.
Warning system is not fool-proof

4.IMO PERFORMANCE STANDARDS
 ARPA display : Should have an effective Diameter of at least 340 mm.

 ARPA facilities to be available on the following Range scales :-
 3 & 12 nm (X band) or
 4 & 16 nm (S band)
However, generally ARPA is available from 1.5 to 24 nm.
 Mode / Motion display / Picture presentation : RM, TM (Sea stabilized) or TM (Ground

stabilized)
 Azimuth stabilisation / Picture orientation : To have North-up / Course-up / Head-up
 ARPA data to be clearly visible to more than one person in day/ night time on the
bridge.
 Screening against sunlight should not impair observer's view of look out. Facilities to
adjust picture brightness to be provided.
 Range scale/ display mode & orientation in use to be positively indicated.
 After changing range scale or resetting display, full plotting information to be
available within FOUR scans.
 Lower Limit on number of acquired targets:
 Minimum 20 targets if ARPA has Automatic acquisition mode
 Minimum 10 targets if ARPA has only Manual acquisition mode.
Criteria for acquisition of target if ARPA is on manual mode of acquisition
i. Fast approaching target with small CPA.

ii. Acquire target beginning with nearest.
iii. Cancel non-dangerous target if target overflow alarm activates
iv. Delete target without threat or are well past & clear.
TRACKING AND TARGET SWOP
Tracking is the process of observing the sequential changes in the position of a target,
to establish it's motion.
ARPA continues to track an acquired target until:
 Target goes out of ARPA range (generally 24 nm)

 Target is lost (lost target alarm goes off)
 Tracking is cancelled by operator
 Target swap occurs with an untracked target.

ARPA continues to track a distinguishable target for at least 5 out of 10

consecutive scans, and if echo does not appear during this time, ARPA considers the target to
be lost and a Lost target alarm is sounded.
Last tracked position of lost target is displayed with a flashing symbol.

TARGET SWOP/SWAP
When 2 targets appear within same tracking gate at the same time, ARPA selects the
strongest echo within the gate and considers it to be the position of the target. If one of the target
was not acquired, the tracking gate of the acquired target shifts to the unacquired target,
resulting in tracking the unacquired target and the acquired target is no longer tracked.
If both targets are acquired, there may be an exchange of tracking gates between them and
this can cause confusion.
There are no alarms which could warn the observer.
Therefore, Suspect target swap if

 2 targets move close to each other
 Tracked target moves close to stationary target
 There is sudden change in target information
 A large target overshadows a smaller target
 Lost target alarm sounds.
It is very important to look for these symptoms as a swap could sometimes become disastrous, if
unnoticed especially ground referencing point in Ground stabilisation.
Target swap can be minimized by Rate-aiding process.
ARPA Information presentation
i. On Radar PPI -- Vectors or Graphics

ii. Alpha-numeric -- separate digital readout.
Course & Speed of acquired targets to be displayed in Vector / Graphic form with the
option of True & Relative vectors.
ALPHANUMERIC INFORMATION : On request, ARPA should present

1. CPA 4. Calculated True speed
2. TCPA 5. Present range of target
3. Calculated True Course 6. Present bearing of target
Additionally, some models may provide Bow crossing range & time. Some ARPAs also provide the
above information when on 'Trial' mode.

GRAPHIC FORM of displaying Target Data :

5. POTENTIAL POINT OF COLLISION (PPC)
PPC is the point towards which own ship should alter course in order to collide. Thus, it gives
an idea as to which course should be avoided to prevent a collision. PPC is always situated on
target's projected track.
Assumption : Target maintains course & speed.

Own ship maintains only speed.
The number, location & movement of PPC depends on :

i. Relative speed between own ship & target ship.
ii. Their relative positions.
Number Of PPCs :
If Own ship faster than target ship : Only One PPC
If Own ship slower than target ship : One, Two or No PPCs.
PPC (SINGLE POINT COLLISION)
COURSE TO STEER TO COLLIDE
Target’s Track
Own ship’s present course

B &C : PPC’s
A : Target
A-Target’s Track
PPC does not give CPA (except when CPA is zero) and a Safe Course to steer. The circle
depicting the PPC does not give any indication of the CPA.

6. PREDICTED AREA OF DANGER (PAD)
Limitations of 'PPC' can be overcome by using PADs. It is an area drawn with minimum safe
CPA selected by operator.
‘PAD' is drawn around 'PPC', but PPC may not necessarily be at it’s centre.
PAD ON SCREEN
TGT A : HAS 2 PADs

T TGT B : DANGER TGT
(Own ship's heading marker passing through it's PAD)
TGT C : IS SAFE TGT.
A
TGT B : DANGER TGT
B (Own ship's heading marker passing through it's PAD)
TG T C : IS SAFE TGT.
C
Observer should try to keep the own ship’s heading marker out of PADs at all times. Line
through PAD is not a vector but only identifies target for which PAD is drawn. 'PAD' is
only between own ship and the target.
Sperry was the first company to introduce PAD.
Construction Of The 'PAD' : It is constructed around PPC using
i. Cross-ahead & Cross-astern points and
ii. Two lines on either side and parallel to target track.
OWN SHIP’S HEADING LIMIT TO PASS AHEAD OR

Hexagon: one Rectangle -- Length = ½ E1–E2

Breadth = 2 x miss distance
plus 2 Isosceles Height = ¼ E1–E2

Triangles Base = 2 x miss distance
Ellipse : Major axis = E1–E2

Minor axis = 2 x miss distance.
Number of PAD's depends on the number of PPCs .
In special cases PADs may not contain a 'PPC' eg., when there are 2 cross-astern points
but no cross-ahead points. PAD changes shapes with change in relative position of the target.
Movement Of PAD :
Collision case : When own ship’s heading marker passes through the PAD, the PAD will
move down the heading marker with cross ahead & cross astern point on either bow. If
there is a second PAD, then it will move towards the target and merge with the first PAD.
If heading marker just touches 'PAD', the limit of 'PAD' will remain in contact with the
heading marker.
Non-collision case : In this case, own ship's heading marker does not enter the PAD. 'PAD'
will change shape, move past and finally disappear. Actual movement depends on which is
the faster ship and whether own ship is passing ahead or astern of the target.
Special case : For Head-on and Over-taking situations (Dead Ahead), it is not possible to have
cross-ahead and cross-astern position. In such cases, only the CPA distance to pass to port and
starboard is taken. Thus the 'PAD' is a circle.

7.WARNINGS & ALARMS
MANDATORY ALARMS as per Performance Standards
1. Guard zone alarm - When a target crosses a Guard ring.
2. Danger target alarm - When the CPA and TCPA of a tracked target are less than the
minimum safe CPA & TCPA set by the observer. This alarm also goes off when the heading
marker intersects a PAD.
3. Lost target alarm - When the target does not show up for more than 5 out of 10 consecutive
scans. The Last tracked position of the Lost target is indicated by a flashing symbol.
4. ARPA malfunction alarm - When the self-diagnostic test detects a fault in the equipment.
The first 3 Operational Alarms can be activated / deactivated.
All targets causing warning should be clearly indicated on the display, generally by a flashing
symbol.
NON - SPECIFIED ALARMS :
 Target overflow alarm - When the tracking register is full (ie., when maximum limit on
the number of acquired targets is reached) and an additional target is acquired manually,
the target overflow alarm sets off.
 Target manoeuvre alarm - This alarm sounds when ARPA senses that a target has
altered course or speed.
 Trial manoeuvre alarm - If a safe course cannot be found while using Trial manoeuvre
facility,
 Time to manoeuvre alarm - After using Trial manoeuvre facility, this alarm sounds to
indicate to the operator that it is time to manoeuvre as per the trial advice.
 Anchor watch alarm - When own ship drags anchor. This facility is used by acquiring
one or more fixed objects. If the object moves it means that the ship is dragging anchor
and the alarm is set off.
 Wrong order alarm - When the operator manually inputs a wrong course or speed. (eg.,
Course input – 420 0.)
 Sensor input alarm - When Gyro or Log inputs are not received by ARPA. However, there
is no alarm for inaccurate inputs from gyro or log.
 Bad echo alarm - This alarm is activated just before a lost target alarm sounds.
 Off track alarm - The operator is warned by this alarm while using mapping facility if
the vessel strays beyond the safe limits of the track.

 Lost fixed point alarm - If the fixed target used for ground referencing the radar
picture is lost.
TRIAL MANOEUVRE
This facility enables the ARPA to simulate the effect of own ship’s manoeuvre on all tracked
targets without interrupting the updating of target information.
Purpose : (1) To avoid a close quarter situation

(2) To follow the intended route with minimum deviation.
TYPES :
Manual mode : The trial course and speed is input and the ‘Trial’ button is pressed. The
simulated trial picture shows the effect of the trial inputs and gives an alarm if tracked target
violates the set CPA, TCPA.
Automatic : In this mode, only the trial speed needs to be input. When the ‘Trial’ button is
pressed, ARPA presents a safe course to steer, so that all tracked targets exceed the set
minimum CPA, TCPA. This safe course is generally limited to about 90 0 to 120 0 on either
side.‘Trial manoeuvre’ alarm sounds if ARPA is unable to find a safe course.
Time delay facility is available on most ARPA sets. It introduces a delay in the simulated picture.
The time delay is equal to the interval between the time of using the trial function and the time
when the actual manoeuvre is completed.
Therefore Simulated picture shows the situation at the end of the manoeuvre. The vector of each
target is shown at the predicted position at this time. Time delay is either fixed or variable.
Procedure to use Trial manoeuvre facility
1. Acquire all targets.

2. Set time delay
3. Set CPA / TCPA limit (same as danger target)
4. Select manual / automatic mode
5. Manual mode - input of trial course/ speed to be repeated till there is no alarm.
6. Automatic mode - only speed input required. Safe Course is advised by ARPA in .
dotted line or digital display
7. After taking avoiding action, change to original course/ speed by trying it out on
trial manoeuvre.
8. If no safe course/ speed is available, CPA, TCPA to be reduced.
9. If no safe course/ speed still available, use of trial manoeuvre to be discontinued
and to navigate using good seamanship practices based on visual and radar
assessment of the situation and the COLREG.

PRECAUTIONS WHILE USING TRIAL MANOEUVRE
BEFORE :
(i) Check for any Close Quarter Situation.

(Trial facility to be used well in advance to avoid close quarter situations.
Not to be used when in a close quarter situation.)
(ii) Check for new echoes on the screen and acquire them.
AFTER :
(i) Reset the display and alter course after the set time delay.
(ii) Consult the chart for sea-room
(iii) Visually monitor traffic in the vicinity.
(iv) If small alteration is suggested, it may not be apparent to other vessels. To make a
substantial alteration whenever possible
To avoid confusion, Trial Manoeuvre is operated by a spring loaded switch or function key
with positive identification on screen.
NAV LINES AND VIDEO MAPS

TYPES OF MAPS :
Own Ship Referenced : Map Lines are fixed with respect to Own ship ie., electronic centre.
Relative Motion mode Map remains stationary on screen
True Motion mode Map moves in step with own ship.
It is Ideal for Parallel Indexing.
Ground Referenced : Map Lines are fixed with respect to Ground. They can be aligned with
coastal features and used like navigational charts. Map moves according to radar inputs
of own ship’s course & speed, so as to remain aligned with land features.
Relative Motion mode - Map moves in opposite direction as own ship.

True Motion mode - Map remains fixed on the screen.
However, map can drift away from its alignment due to current acting on own ship. This is
because the own ship is actually moving at its Course & Speed over ground while the input to the
radar is Course & Speed over water. Hence to overcome this, the radar display must be
Ground Stabilised.
Maps may be drawn while navigating or may be drawn in advance and stored. When required,
the map can be recalled from memory
Map Reference Points :
 Used as a reference point to draw maps (ie., range & bearing from this point are taken
for drawing course lines and other elements of the map.
 Used to reference a map recalled from memory. Placing the MRP over its
corresponding echo on the PPI thus aligning the map with the actual radar picture.
Cautions when using Mapping facility :
 To Monitor the MRP- It is important that the Map does not shift. As a safeguard it is
wise to have additional reference points or check lines aligned with coastal features to
help in monitoring the map shift.
 Radar display should be North-up and gyro-stabilised before drawing the map as the
map cannot be rotated later.
 If radar picture is ground stabilised , cautions for ground stabilization should be
borne in mind.

8.TRUE MOTION - GROUND STABILIZATION
To be used in Mapping and / or with Parallel Indexing techniques. The Map is to be properly
aligned with respect to a fixed land target so that the picture on the Chart and the Radar picture
are same. In ARPA, in order to Ground Stabilize the True motion display, a fixed ground target is
used to ground reference the picture (some ARPA could use more than one ground referencing
points).
Acquire an isolated fixed land target as a ground reference target in the appropriate Menu
(occasionally an anchored vessel can be acquired, only if other suitable targets are not available,
but with caution as the vessel may pick up anchor and sail).
If there is any Set & Drift, all fixed land targets would tend to move opposite to the set & drift (in
the TM-Sea stabilization mode). But now, as the fixed land target is ground referenced, ARPA
calculates the Set and Drift instantaneously and online on a continuous basis and this Set & Drift
is applied to all fixed land targets so that they do not have any movement whatsoever on the
screen.
The Set & Drift so calculated is applied to own ship’s Course Steered & Log Speed (Speed on
water) and also to all the targets appearing on the screen. As a result of this, when True vectors
is asked for, the own ship’s Course Made Good /Speed Made Good Vector appears along with the
Heading Marker. And all True Course/Speed Vectors of all the targets show their Course Made
Good/ Speed Made Good Vectors. Thus, a vessel stopped in water would show the True Vector as
if it is on a course same as the Set &Drift
TM - SEA STABILIZED TM - GROUND STABILIZED

NOTE: Errors in interpreting Ground stabilized vectors
TARGET 'A' - NOT MAKING WAY THROUGH WATER.
TARGET 'B' - DOES NOT HAVE A GREEN ASPECT.
TARGET ‘C’ - NOT A STOPPED VESSEL.

All the ground referenced Mapping lines would then remain stationary without any movement. If
on the Navigational chart the passage has been planned to steer a course of say 330* (T) to pass
well within the lane of the TSS , it means that whatever the set & drift, Own ship should make
good a course of 330*(T) to be safe within the lane.
For this purpose, Own ship should steer a course, which would bring its CMG & SMG Vector
(that appears along with the Heading Marker) in the direction of 330*(T). This would mean that
own vessel is making good the course as planned on the chart and hence it is a safe course.
If the set & drift continues to change in strength & direction, due to ground referencing the
CMG/SMG vector changes accordingly. So as far as the CMG/SMG Vector of Own ship is made to
be the course as planned on the chart with minor alteration in the course steered, the navigation
would be perfect. This also avoids the need of frequent fixing of vessel’s position. Ordinarily in a
passage through a TSS or in near Coastal or Coastal areas, positions are fixed as frequently as
every 5 / 10 minutes and coupled with the other duties required to be performed by the OOW, the
workload becomes enormous. This method eases the pressure without sacrificing on accuracy or
safety.
Advantages:
 To be used when Navigation is very important ie in Mapping and Parallel Indexing.

 To reduce the work load on the Officer of Watch.
 Position fixing of Own vessel can be done at longer intervals and thereby allowing more
time for other important matters.
 To achieve a high degree of Navigational accuracy.
 No effect on the Navigational capabilities and accuracy even with changing Set & Drift.
Disadvantages:
 Can only be used under Mapping or Parallel Indexing as a Navigational tool.
 ARPA/RADAR effectively reduced to a Navigational Aid by cutting the Anti-Collision
function totally.
 Since all Targets show their CMG/SMG Vectors, proper ROR cannot be applied as ROR is
for the Course steered/Speed over water.
 If the point under ground referencing were to be Lost or Swapped or out of ARPA range,
then confusion with disastrous consequences would result.
 It is a very conscious decision to use Ground stabilization.

9. MAINTAINING ARPA DISPLAY & OBTAINING INFORMATION
Manual acquisition: To acquire recently appeared targets and to cancel non-dangerous targets.
Auto-acquisition: To adjust auto-acquire areas, if required. To check the performance of ARPA

frequently by carrying out self-diagnostic test, manual diagnostic test and Manual test. To check
gyro / log inputs.
Monitoring targets : Watch out for the danger targets by extending the relative vector for
assessing the CPA & TCPA and also by extending true vectors to see if ends meet.
For a Danger target :
 Use True vectors to decide on the give way vessel.

 If target is the give-way vessel, use past positions to check for target manoeuvres.
 If own ship is the give-way vessel, use Trial Manoeuvre before taking avoiding action.
 In any case use Trial Manoeuvre and be prepared for any eventualities
Switch from relative vectors to true vectors occasionally to understand target headings. If
PADs are in use, switch to vector mode.
Lost target alarm : Identify the lost target and investigate the reason. Check for target swap
and if required, re-acquire the target.
Lost fixed point alarm - Investigate the reason and ground reference again on a better fixed
target.
ARPA malfunction alarm - Switch off ARPA. Monitor the raw radar display. Do manual
plotting using the reflection plotter, floating EBL, etc.

10. ERRORS IN ARPA
ARPA ERRORS IN DISPLAYED DATA
 Errors due to RADAR

 Errors due to INPUTS (Gyro & Log)
 Errors due to ARPA processing
ERRORS DUE TO RADAR
Target glint/ scintillation: ARPA locks on to the centre of the target echo and if centre shifts
due to target rolling, pitching, yawing or altering course, ARPA interprets this as movement
creating slight inaccuracies in the target data.
Errors in bearing: leads to errors in CPA, target’s True Course, specially if target is on
reciprocal course or end on. Bearing error can be due to non-alignment of Scanner & Trace.
Rolling causes scanner to go off the fore-aft line. Error is directly proportional to height
of scanner and inversely proportional to range of the target. Asymmetrical HBW causes
bearing error.
Azimuth Quantization Error : Bearing is converted from analogue to digital before input
to ARPA . This process of conversion (Quantization) introduces an error.
Error in range: leads to error in target’s relative track. The displayed data, specially TCPA is
wrong. Range error can be due to own ship's motion. Rolling causes scanner to move away
from the fore-aft line causing range error. There is no big effect due to pitching.
Range quantization error: - due to conversion from analogue to digital.
INPUT ERRORS (Course & Speed) : Affects all targets True Course and Speed (True vector),
but not the relative vector. If ARPA smoothes and stores true track (ie., true plot ARPA)
and with fluctuating input, error results in relative vector . If no fluctuation (steady input
error) no error in relative vector. There is no warning against inaccurate inputs.
GYRO :
 Fixed gyro error .
 Random error due to ship's roll, pitch, yaw.
 Misalignment between master gyro and the input to ARPA.
LOG :
 Calibrated Fixed Log error.
 Misalignment between log and the input to ARPA
 Fluctuations in log input due to bad weather.

MANUAL SPEED INPUT : To input only the correct speed over water. If not, will result in
errors.
ARPA PROCESSING ERRORS : Errors due to ARPA are as follows

Target swap, Lost target & also Own Ship's manoeuvre.
During and just after own ship’s manoeuvre, a temporary error occurs and it affects the
relative vectors of all targets. Only after own ship steadies on the new course/ speed and
a full cycle of smoothing period has elapsed, the relative vector will represent the correct
data.
True vector is also affected similarly. In case the tracker stores true data, independent of
own ship's course/ speed input, then it does not affect the true vectors. Also during
manoeuvre, own ship's movement may not be exactly same as the input by gyro and log.
If target manoeuvres - it effects the target only. Once target completes manoeuvre & after
full cycle of smoothing is elapsed, things become normal.
ERRORS OF INTERPRETATION DUE TO OBSERVER
1. Failure to acquire a target - no alarms for unacquired targets.

2. Incorrect use of vectors – Considering true vector to be relative vector and vice versa.
3. Confusion between trial manoeuvre and the actual situation. Not restting after use.
And also using Trial Mode while in CQS.
4. Incorrect use of past positions - When using relative past history, change in direction &
spacing of dots does not mean alteration of course. The above is correct only in case
of true past positions.
5. Re-acquired lost target - misunderstanding vector information before smoothing cycle.
6. Over reliance& un-critical acceptance of ARPA data Arpa data is subject to some
inaccuracies. It is wise to make allowances to be on the safe side. In particular, a small
CPA predicted by ARPA should not be considered as absolutely accurate and is not a
valid reason for not taking avoiding action.
7. Undue reliance on Auto-acquisition & Guard zones. ARPA should not to be used as a
replacement for a proper look out.
8. Incorrect use of PADs / PPCs
 Length of the line joining the PAD to the target is not a vector.
 PPC not necessarily at PAD’s centre.
 PAD does not change symmetrically.
 PADs & PPCs apply only to own ship and the target.
 Change in PAD /PPC does not mean target has manoeuvred.
 Course using bearing cursor does not indicate CPA.
9. False reliance on sensor input alarm - It operates only if Gyro & Log fails. There is no
alarm for false / incorrect sensor input.

SYSTEM OPERATIONAL TEST
There are two main tests as per Performance Standards:
I) Self diagnostic test

II) Manual diagnostic test
Self diagnostic test : This is a self-check of all ARPA circuits. It is automatically carried out
when the set is switched on and there after at regular intervals. Operator may also initiate
this test.
In case of fault – ARPA malfunction alarm is activated. Some sets may indicate cause and
location of fault.
Manual diagnostic test : This test checks the performance of the processor by checking the
accuracy of the displayed ARPA data.
Manual Tests : Check ARPA data by doing manual plotting. Also cross check trial
manoeuvre with manual means.
If the True past positions of a steady target is in a smooth line, it indicates good tracking
by ARPA. If it is uneven, target data to be used with caution.
Cross-check vector information from display with EBL & VRM.If target is visually observed
to be altering course, check if ARPA data also indicates that.
ARPA ACCURACY& RELIABILITY
Performance Standards have laid out accuracy values for 4 differing target situations
called operational scenarios. Also for maximum allowable errors for target's motion trend &
target's predicted motion.
To test the ARPA, these scenarios are simulated on PPI and targets are acquired for
ARPA tracking. The result should not differ from the true values by an amount more than
the given accuracy values of P.S. 3.8.2 & P.S 3.8.3. ACCURACY TABLES in P.S 3.8.2 &
3.8.3. (95 % PROBABILITY)
(I) Within 1 minute of steady tracking, ARPA should present Target’s Relative Motion Trend
with following accuracy :

(II) Within 3 minutes of steady tracking, ARPA should present Target’s

Predicted Motion with following accuracy :
Scenario 1
Own ship Co 000 deg
Own ship Spd 10 Kts
Target Range 8 Nm
Target Bearing 000 deg
Tgt’s Rel Co 180 deg
Tgt’s Rel Speed 20 Kts
Scenario 2
Own ship Co 000 deg
Own ship Spd 10 Kts
Target Range 1 Nm
Scenario 3
Own ship Co 000 deg
Own ship Spd 5 Kts
Target Range 8 Nm
Scenario 4
Own ship Co 000 deg
Own ship Spd 25 Kts
Target Range 8 Nm

Reliability of ARPA:
 In no way is ARPA inferior to manual observation & plotting.

 ARPA does not interfere with the integrity of basic Radar presentation, even if ARPA
fails.
 ARPA should always be under the control of the observer.
 ARPA does not degrade the performance of other equipments, which provide input
to ARPA and to which ARPA provides its output.
 IMO P.S & manufacturers have made sure that ARPA is better than just Radar,
provided used with full knowledge.
PRECAUTIONS when using ARPA
 Be aware of ARPA errors & inaccuracy

 Perform ARPA tests
 Processing delays (first 3 minutes)
 Relative vectors are more reliable than true vectors
 Check trial manoeuvres advice before action
 Never use ARPA as a replacement for Look out.

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AUTOMATIC RADAR PLOTTING AIDS

2 SETTING UP OF RADAR & ARPA 10

3 PAST POSITION/TARGET HISTORY/TARGET TRAILS 15

4 IMO PERFORMANCE STANDARDS 18

5 POTENTIAL POINT OF COLLISION (PPC) 21

6 PREDICTED AREA OF DANGER (PAD) 22

7 WARNINGS & ALARMS 24

8 TRUE MOTION- GROUND STABILIZATION 28

9 MAINTAINING ARPA DISPLAY & OBTAINING INFORMATION 30

SeaSkills Maritime Academy, Coimbatore 1

Objective of the course

 To use radar to the optimum

ARPA should improve the standard of collision avoidance at sea.

SeaSkills Maritime Academy, Coimbatore 2

IMO RESOLUTION A-482(XII) ANNEX 1.

THE BASIC ARPA SYSTEM

GYRO input RADAR/ ARPA

PLAIN RADAR DISPLAY RADAR/ARPADISPLAY

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Stand Alone Integral Radar /ARPA

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HOW ARPA WORKS?

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Digital Filter Tracker& ARPA Data RADAR/ARPA

Acquisition : A target can be acquired manually or automatically. A tracking gate opens

SeaSkills Maritime Academy, Coimbatore 6

During Rate-aiding process After Rate-aiding process

Hence in abundant precaution, ARPA data should not be relied upon

 For all targets immediately after acquisition.

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Advantage of reducing gate size:

i. Improved tracking accuracy , including through clutter

If too long -- tracker loses sensitivity to changes in tracks.

Most systems have 2 smoothing periods. Eg.

The delay in processing the target data is called Processing Delay

SeaSkills Maritime Academy, Coimbatore 8

Types of Acquisition : MANUAL & AUTO

Type of Information presentation:

(ii) Graphics (PPC/PADs)

(iii) Alphanumeric (using digital readouts)

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2. SETTING UP THE RADAR

Setting up the basic Radar:

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Checking the INPUTS to ARPA:

 Select acquisition mode - Manual or Automatic

Open waters – To set acquisition for the entire radar screen.

Never use ARPA auto acquisition as a replacement for look out.

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VECTOR MODE : Relative and True.

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RELATIVE VECTOR MODE TRUE VECTOR MODE

A & B – Danger targets A – Crossing from Port side

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Relative vector length

True vector length

Minimum Safe CPA & TCPA

In Open waters, generally a CPA of 2 Nm and a TCPA of 20 minutes may be appropriate. In

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3.PAST POSITIONS/ TARGET HISTORY / TARGET TRAILS

 They are useful to check if a target has altered course or speed.

There are 2 types (A) Real trails (B) Synthetic Trails.

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