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Fanbeam 4.2 Operators Manual
Fanbeam 4.2 Operators Manual
359132/A
Measurement Devices Limited
for
End Users / Installers / Engineers
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Table of Contents
2 System Description
ADVANTAGES
MDL's Fanbeam®4.2 system has many advantages. Our customers tell us that the Fanbeam®4.2 is
straight-forward to set up, performs excellently during short range operations, high accuracy is
achieved consistently, the system utilises intrinsically safe targets, requires very little maintenance
and is low cost compared to other systems. This versatile laser system can be employed as a
primary or backup system and is considered a valuable alternative or complementary system to
DGPS and other navigational aids
Vessel Forward
DP Feed
Gyro Input
The Fanbeam is a laser based relative positioning system, which emits vertically divergent laser
pulses to measure the distance to custom made reflective targets. The laser uses the time-of-flight
principal to measure range whilst an optical angle encoder is used to measure the relative angle for
each range. The laser is mounted on a horizontally rotating yoke, which also allows for vertical
adjustments to cater for height differences between the target and the Fanbeam. The system is
controlled by software running on an embedded PC control system that provides the operator
interface. A data feed to a peripheral system (such as a DP) is provided from the control PC, which is
usually on the bridge of the vessel.
• With your help it is possible to reduce the amount of electrical and electronic waste ending up in landfill and to
improve quality of life by preventing the release of potentially hazardous substances into the environment. This
product may contain substances that can be hazardous to the environment if not disposed of properly.
• Electrical and electronic equipment should never be disposed of with general household waste but must be
separately collected for their proper treatment and recovery.
• At the end of the life of your product the end-user may have an obligation to ensure that this Waste Electrical and
Electronic Equipment (WEEE) is separately collected and to obtain and retain proof that it was handed to a waste
management company who treated and disposed of it in an environmentally sound manner.
3 Operational Considerations
The system is relatively easy to setup and operate and is designed to minimise operator interaction
as much as possible. There are, however some key points that all operators should consider when
using the Fanbeam.
Other configurations are possible depending upon the kind of vessel and its expected operational
needs. Many larger vessels now have multiple mounting locations (port/starboard) with cables run in.
MDL can provide guidance and assistance with non-standard installations and cabling as required.
3.2 Targets
The reflective targets required to measure a range are of a custom design specifically optimised for
use with the Fanbeam.
NOTE: MDL do not recommend the usage of non-approved targets with the Fanbeam system.
Single prisms can be used and will provide ranges of up to 1000m in the correct conditions. A single
prism is, however, limited in horizontal angular coverage to 60º. Therefore, a range of prism clusters
is available that takes vertically stacked pairs of prisms (providing 2000m range) and allows them to
be horizontally offset by 45º increments. This provides a long-range target with an angular coverage
that is configured by the number of prism pairs you stack.
Six Way Prism Cluster – 150º
• Target Orientation
Both target types need to be mounted vertically to match with the vertical orientation of the
laser fan. Mounting tube or cluster targets horizontally will significantly reduce the
effectiveness of the target.
• Target Range
If possible to mount a target where the range to the laser will be greater rather than very short
can help to mitigate issues relating to target height.
• Target Visibility
The laser requires a clear line of sight to the target for optimum performance. Always ensure
that the target is positioned away from locations where moving infrastructure or personnel can
block line of sight to the target.
• Personnel Awareness
Personnel on the platform or rig should be aware of what the targets are and what they are
used for.
The pointing device is the equivalent of a two-button glide pad, similar to that found on many laptops.
It allows the user to move a cursor around the screen and press software buttons by using the left
mouse button. The right mouse button is only ever used to move the graphics display.
For most purposes, the keyboard is the quickest way of interacting with the software and the shortcut
keys should be learned to facilitate most effective use of the system. More information on the shortcut
keys is available throughout the remainder of the operators manual.
5.1 Setup
The setup dialog contains various configuration options that can only be accessed when the system
is offline (i.e. not tracking targets). Some of these options must be selected with care as they can
impact on the operation of the system overall and it’s interaction with peripheral systems such as a
dynamic positioning system.
5.1.1 Fanbeam
NOTE: These values are applied directly to raw data prior to any display in the software. If either
value is non-zero, the data displayed will be modified rather than raw.
• Delta Height
This parameter allows for a simple range reduction to be performed on the measured range,
based on an assumed height difference between the target and the Fanbeam laser head.
• Bearing Correction
This parameter allows for a simple angular offset to be applied to the measured bearing for all
targets and position updates reported by the Fanbeam.
5.1.2 Gyro
An optional Gyro interface is available for the purposes of aiding the system re-locate a lost target
and to optionally “north up” the display.
• Ident
This value will generally be set to one, but can be changed to dictate the ID value in some of
the telegrams.
• Type
This drop down list allows for the selection of an output telegram. Details for the selected
telegram are displayed at the bottom of the dialog. Please refer to the installation manual for
details of the various telegrams available.
NOTE: Great care should be taken to ensure the correct telegram is used. Sending incorrectly
formatted data to peripheral systems can result in un-predictable behaviour.
NOTE: These parameters should only be used with great care. The displayed information on the
software will not be effected by these parameters, only the output data.
5.1.4 Alarms
When all three of the above alarm parameters are enabled, they combine to create a “safe segment”
area inside which the target must be positioned. If the target moves out with the segment, an alarm
condition will be triggered.
5.1.5 Colours
The graphic display includes the facility to add a vessel outline as a visual guide to help identify
targets relative to the vessel rather than the Fanbeam itself. This feature is intended as a visual aid
only, and as such these parameters need only be approximate. The date output or displayed values
are not affected by these parameters.
• Display Vessel Outline
This allows the user to toggle the vessel outline on and off
• Show Sweep Angle
This option allows for the graphical laser sweep line to be disabled
• Length
Approximate length of the vessel in meters
• Width
Approximate width of the vessel in meters
• Fanbeam X
Port – Starboard offset in meters of Fanbeam from the vessel centre. Positive X is starboard of
centre line and negative X is port.
• Fanbeam Y
Forward – Aft offset in meters of Fanbeam from the vessel centre. Positive Y is forward and
negative Y is aft.
• Angular Offset
This allows for a known angular offset between the Fanbeam and the vessel centre line to be
input.
• Orientation
Limited to 30-degree increments, this value rotates the entire graphic display to correlate with
the locus of the monitor relative to the vessel.
Above the main graphic display is a row of iconised buttons. These relate to the graphic display and
allow various functions and options to be accessed at any time by the operator.
• Zoom In
Increases the graphic display zoom factor. This option is disabled if Auto-Display Scale is
active.
NOTE: If the zoom factor is too high then tracked and/or spurious targets my not be visible on
the graphic display.
• Zoom Out
Increases the graphic display zoom factor. This option is disabled if Auto-Display Scale is
active
• Auto-Display Scale
This option is designed to remove the need to use the zoom functions. When enabled, the
display will automatically scale to show the tracked target (when tracking) or all selectable
targets (when acquiring).
NOTE: If the graphic display has been moved off centre (by right clicking and dragging), then
this does not guarantee that the tracked target will be visible.
• Centre Graphics Display
The graphic display can be moved around using the mouse pointer (right click and drag). This
button can be used to easily centre the display again.
• Display Snail Trail
This option toggles on and off the display of the tracked targets’ positional history.
• Display Target Dynamics
This option toggles on and off the display of the tracked targets’ dynamic properties (speed &
direction) as well as the direction arrow.
• Display North Up
This option allows for a gyro heading value (when interfaced) to be used to orient the whole
graphic display to North up.
• Daylight Colour Scheme
Selects the daylight colour scheme (applies to whole user interface).
• Night Colour Scheme
Selects the daylight colour scheme (applies to whole user interface).
5.3 Readouts
Each readout is used to display numeric data to the operator in such a way that is easy to understand
and read even from a distance. Sometimes these readouts are also used to display the status of the
system.
• Range
The distance in meters to the currently tracked target.
• Bearing
The angle in degrees (relative to the Fanbeam) of the currently tracked target.
• Level
The signal strength of the current target
• Accuracy
Quality indicator for the current target
• Gyro
Heading data from the gyro (when interfaced)
There are a range of additional controls and displays that can be accessed by way of the tabbed
control at the bottom right of the operator display. The function and purpose of each is described
below:
The software performs a variety of target data filtering functions that can be configured by the
operator, or, in some cases, made automatic. The target filtering parameters are described below:
The two parameters define the overall size of the window in the range and bearing domains (polar
coordinates).
• Meters
The overall size of the window in the range domain
• Degrees
The overall size of the window in the bearing domain
NOTE: As the window is defined in polar coordinates, it is easier to relate it to target data. However,
operators should be aware that the Cartesian dimensions of the window would increase with range.
NOTE: These parameters only have meaning once the system is tracking a target.
When one or more of these parameters is “infringed” (i.e. a target is rejected because of the
parameter), the target will be displayed graphically as a “spurious” target and the infringed parameter
will flash red.
NOTE: Operators should take care not to reject the valid target using these parameters.
When one or more of these parameters is “infringed” (i.e. a target is rejected because of the
parameter), the target will be displayed graphically as a “spurious” target and the infringed parameter
will flash red.
NOTE: Operators should take care not to reject the valid target using these parameters.
NOTE: Accuracy values are only in the range of 1 to 9. The real meaning of the value is the number
of reflections received from a given target. Values 1 to 8 mean 1 to 8, but 9 means 9 or more. As
such, it is recommended that targets be only used where they exhibit an accuracy of 9 consistently. A
target with an accuracy of 8 is only 8 reflections away from not having been observed at all.
5.4.1.4 Options
There are two option toggle buttons relating to target filtering:
• Auto-Level Filtering
This option toggles on and off the use of a software function that allows the minimum level
parameter to be automatically calculated. See more about this function in the section on Auto-
Level Filtering Tab.
NOTE: When this option is enabled, the Minimum Level control is greyed out and becomes a
display for the calculated minimum level.
The software has a built in function for autonomously controlling the commonly used level (signal
strength) filtering parameters. By building up a history of the tracked targets’ level, the software is
able to proactively set appropriate filtering values. The display on this tab allows the operator to see
this happening in real time.
• Auto-Level Filtering
This option allows the auto-level filtering function to be enabled or disabled.
• Clear
The histogram will fill up with the last five minutes of level data for the tracked target. This
button allows the operator to delete the oldest minute of data from the histogram. This can be
used to remove outlier data from the function.
• Histogram
The histogram itself is displayed purely for information purposes. It provides a very useful
reference for optimising tracking performance using the Tilt function.
NOTE: The histogram always gathers data from the tracked target, even when the function is
disabled. This means that the data can be applied instantly when the function is enabled.
The software includes a function for applying statistical methods to create a position prediction. This
is then used to aid with spurious target rejection in situations where targets are very close together.
• Target Dynamic Properties
The dynamic properties are identical to those shown on the graphics display. They provide
readouts of relative target speed, direction and degrees of freedom.
• Position Prediction Display
This graphical display gives a much closer view of the tracked target along with the predicted
position and associated ellipse (centred about the predicted position) describing the error
budget for that observation. The display scale will automatically change to accommodate the
ellipse on the display area. The actual target observation is displayed as a cross with historic
observations displayed as diamonds.
• Prediction Ellipse Parameters
The measurements of the calculated Prediction Ellipse are displayed as readouts for the
benefit of the operator. These include semi-major, semi-minor and bearing.
The software uses this function in situations where the traditional target discrimination is not enough.
If a spurious target is present in close proximity to the tracked target (i.e. inside the target window),
then the predicted position is compared with the targets seen by the system to determine which is the
real one, and what to reject. This function is completely automatic and the tab is for information
purposes only.
This tab provides the operator with displays relating to tracking confidence and spurious targets.
A secondary display is positioned at the bottom of this tab. This display relates to the detection and
status of spurious targets by the system.
• Spurious
Indicates if a spurious target (any target other than the tracked one) is visible to the Fanbeam.
• Filtered
If there are spurious targets visible, this indicates if any of them are un-filtered (red).
• Inside Window
If there are spurious targets visible, this indicates if any of them are positioned inside the target
window (red).
• Result
An overall spurious target status is derived from the combination of the previous three flags.
Five possible states exist (0 = no spurious targets through 4 = unfiltered target inside target
window).
The software has a status bar along the bottom of the display that is segmented into sections. Each
one displays information about the software.
• Software Status
This indicator provides information about software status at any given time. Examples of status
include tracking target, target lost, tilting etc.
• Data Output
The data output feed to the DP is a critical part of the whole system. This indicator allows
operators to see the data telegram being sent in real time.
• Licence
The software is protected by a hardware licence, which is detected at start-up and regularly
thereafter. Some licences can be time limited, and in these situations a time remaining will be
displayed here.
• Software Revision
The version and release date of the software in use is displayed here so that operators can
quickly determine what revision is in use.
5.6 Track
In order to track a target, the software must go through a target
acquisition procedure where the operator is provided with options
regarding what target to select. Once this is done, the system is almost
completely autonomous, but there are still options available to the
operator that can optimise the target tracking
Target acquisition is achieved by the hardware repeatedly performing 360º rotations whist the
software lists all un-filtered targets with a unique ID. The operator can then select the desired target
for tracking by selecting the appropriate ID. Various other options are available to the operator during
target acquisition that are designed to aid the observation of the valid target and the rejection of any
spurious ones.
• Tilt
It may be necessary to tilt the laser up or down in order to see the desired target in the first
place. It is most common to have to tilt the laser up to cater for a high target on a tall platform
relative to a low Fanbeam on a small vessel. In between each acquisition rotation, the operator
can tilt the laser up or down to one of seven pre-defined tilt positions. The control allows the tilt
to be changed up or down at 5º intervals.
• Speed
It may be necessary to reduce the rotational speed of the Fanbeam in order to see more
distant targets. The control allows for speed to changed up or down in 5º/s increments.
• Target Readout
A list view of the un-filtered targets for each rotation is displayed in place of the readouts
during acquisition. The list gives ID, range, bearing, level and accuracy for each target.
Filtered targets will be displayed graphically (depending upon zoom factor) and the infringed
filtering parameters will flash red.
• Target Filtering
If there are many spurious targets visible to the system. It may be necessary to filter these out
using the filtering parameters. Usually this is a simple matter of looking at the target levels and
setting a minimum level to reject the weaker targets.
Once a target is selected in the acquisition phase, the software will begin to auto-track the selected
target. Various options are available to the operator at this point as follows:
5.6.2.1 Tilt
Whilst the bulk of DP operations are focussed on
holding the vessel in station, many are also
concerned with moving a vessel around in a highly
controlled way.
Therefore, the need may arise for the system to track a target over a range of distances. As the
vessel comes closer to the structure, the height difference becomes more significant and the need to
change the laser tilt angle may arise.
The tilt control allows the operator to move the laser up or down by 5º without the need to re-acquire
the target. This also allows for “fine-tuning” to be done by optimising the tracked signal strength
(level) with different tilt angles.
5.6.2.2 Tab
This option allows the operator to quickly toggle between the various tab
views available on the bottom right of the display without having to use
the pointing device.
5.6.2.3 Acquire
This option takes the operator back to the target acquisition mode,
stopping target tracking and any data feed to a peripheral system.
5.6.2.4 Back
This option stops target tracking and returns the operator to the initial
start-up menu.
If for any reason, the tracked target is lost, the system will provide an instant visual indication of this
and optional audio notification. In many situations, the operator will not need to interact, as the
system will always try to autonomously re-acquire the tracked target.
The tracking confidence indicator also provides a quick way for the operator to quickly assess how
the system is performing. A degradation in tracking confidence does not always mean there is a
problem, but provides a means to quickly assess how much attention the system may require.
5.7 Park
When the Fanbeam® head is positioned at 180º, we call this the “Park”
position. The Fanbeam® can be left in this position when not in use or
switched off and can be useful for lens cleaning. Most importantly,
however, is the fact that the Fanbeam® must be put into the park
position before being removed and put in its transit case for shipping.
Users must take care to remember that the Fanbeam® will not fit in its
transit case otherwise and cannot be rotated manually.
5.8 Command
The Fanbeam® settings must be configured once the system is installed
to tell the software how the hardware is interconnected.
Once happy with the FANBEAM® SETTINGS the user should be able to use the FANBEAM®
CONTROLS to manipulate the instrument.
• The run buttons allow the user to set the Fanbeam® running continuously
in a clockwise or counter-clockwise direction.
• The stop button cancels any of the above commands.
• The park button moves the Fanbeam® to the 180º position that is used
for shipping the instrument.
Once the Fanbeam® is moving, any information for targets that is observed will appear in the
OBSERVED TARGETS area and the DATA DISPLAY. Some targets may be ignored if they infringe
the Filtering PARAMETERS.
5.9 Exit
The software can only be exited from the main menu when not tracking.
A variety of options are made available on exiting the software as
follows:
• Shutdown
This option fully shuts down the embedded PC when selected. Power up can then only be
achieved by means of the power switch on the Embedded PC.
• Restart
This option performs a “warm” reboot of the embedded PC
• Exit
This option can be used to exit from the control software back to the Windows operating
system where alternate control software (such as multi-target) can be selected, or other
configuration tasks may be performed.
• Cancel
This option aborts the exit taking the operator back to the main menu.