OFFICER TRAINIG CENTRE

of
Gdynia Maritime University

DP OPERATOR BASIC COURSE

MODULE 9:
Microwave Reference Systems:
Artemis, Radius

Copyright © 2008 by Jaroslaw Cydejko

 Microwaves Characteristic
Microwaves frequencies - more than 1 GHz = 1000 Mhz
Microwaves length - less than 30 cm
• microwaves propagate along straight paths, signal maintains direction;
• signal tranmission can be easily shaped to narrow beams allowing accurate
directional signal emission;
• the receiving antennas have the narrow directional characteristic;
• the microwave antennas has relatively small size with the high directivity;
• microwaves transmission carries relatively high energy so is not interrupted by
rain, fog, snow but any solid obstruction is the barrier;
• microwaves reflect from surfaces and objects maintaining energy; reflected signal
can be useful for radiodetection or creates interferences;
• because microwaves propagate horizontally the range of transmission is limited
by Earth curvature;
• high speed of digital transmission can be achieved on the microwave carrier
frequencies;
All above make microwaves useful for Microwave Systems for DP:
the short and medium range and ARTEMIS 9.2 – 9.3 GHz (X-band)
direction measurments, which can RADius 5.5 – 5.6 GHz
serve for positioning purposes. RadaScan 9.25 GHz
 Artemis Principle of Operation
The Artemis is a position-reference system that
determines the range and bearing of a mobile object
relative to a fixed position using microwaves.
It comprises two units, a mobile station and either a
fixed station or a beacon.

When the system is “locked in”, the

two station antennas track each
other by maintaining a continuous
microwave link with the link path
always perpendicular to the two
antennas.
Frequency: 9.2- 9.3 GHz
Horizontal Beam Width – 2 deg
Vertical Beam Width – 22 deg
 Artemis Principle of Operation
• ARTEMIS output to DP vessel’s position expressed as range and bearing (azimuth).
• The azimuth is defined as angle from Fixed to Mobile station.
• In Artemis the real measure of the angle is performed by Fixed Station and then
it is transmitted to user via radiolink.
• Artemis is „single user” system – only one user can use Fixed Station.
• When the absolute positioning is required the Fixed station antenna has to be aligned
to True North and the absolute coordinates of Fixed station has to be known.
• It is not required when relative positioning only is required.

Beacon Mode:
If a beacon is used instead of a fixed station,
it provides a distance measurement and the
mobile station tracks the beacon.
The bearing of the mobile object is determined
by its heading measured by a gyrocompass
and the relative antenna direction.
 Artemis Range and Bearing Measurements
RANGE MEASUREMENT:
The distance of the Mobile station to the Fixed station is obtained by measuring the
time delay of coded interruptions in the microwave signal transmited by both
stations. Time delay of the interruptions in the continous microwave link counted
from the time of transmission to the time of reception are directlly proportional to
the distance between FIXED and MOBILE.

AZIMUTH MEASUREMENT:
The antennas of the Fixed and Mobile are tracking each over. Irrespective of vessel
movement the two antennas face staying parallel each other so the direction normal
to that direction is the required azimuth. At the Fixed Antenna Unit, a shaft encoder
generates a signal relating to the azimuth of the antenna and sent it to the Mobile as
part of the reply signal.

The bearing measured at the Fixed station is more secure than measuring bearing at the Mobile.
The Mobile is the subject to vessel movement, and would need to be integrated with a gyro
heading in order to determine a true bearing. The result would only be as accurate as the
resolution of the gyro.
 Artemis Antenna Tracking Principle
In Artemis, maintaining the parallelity of stations’ antennas is crutial for accuracy of the azimuth
maesurement.
The Artemis antenna consists of a tracking slotted waveguide aerial, fitted in two halves. Both parts
of antenna, left and right, receive signal independly and apply separately to four ports: L1, L2, R1,
R2 (two ports for each side). The signal acquired in L1 and R1(Sum is created) and the signal from
ports L2 and R2 is substracted (Difference is created by applying signals opposite in phase).

The antennas will stay parallel to each

other and perpendicular to incoming
signal, if:
SUM = L1+R1 = maximum
and DIFF = L2+R2 = 0
If the DIFF output is not zero, then the
residual output from the difference ports
causes the antenna drive motor to rotate
the antenna to reduce the perpendicular
error to zero.
 Identifying/ Adressing Artemis Stations
Mobile and Fixed can use 4 different frequency pairs.
When approaching to Fixed station the frequency pair preset in Fixed Unit has
to be selected in Mobile Station to establish link.

Address Codes:
• there are 64 address codes (0-63);
• even if two systems have the same frequency pair we can seperate them by the address code;
• link can be established only when the code of Fixed Unit is selected in Mobile Station;
• code 63 is special one, which sents „general call” – all fixed station will accept it;
• after link is established with code 63, the actual address can be retrieved from Fixed
by Remote control access.
 Two vessels using Artemis

When two vessels are operating

with Artemis in close vicinity the
proper seperation has to be
maintained or different frequency
pairs to be selected (frequency
seperation to be maintained as well –
see table)
 Artemis Mk IV Artemis Mk V

Artemis Mk V has reduced range to 5 km

and Windows PC based operator panel software
 Artemis DIP zones
The signals reflected from the sea
surface interfere with direct signals,
what disable system operation in
certain areas called DIP zones.

H1xH2

H1 – Mobile
Antenna
Heigth

While using Artemis at close ranges H2 – Fixed

Antenna
within 3 km, the DIP zones should not Heigth
be a problem.
DIP ZONES
Artemis is working in 3 cm radar band, so
its operation can be affected by ship’s
X-band radars. Radar signal has different
polarity (horizontal), but it’s good practice
to keep it away from Artemis.
Artemis accuracy and operational comments
Measurements Range Bearing
Range limits: 10 m to 5000 m Bearing limits: 0 to 360 degrees
Resolution: 0.1 m Resolution: 0.01 degrees
Accuracy: 1 m (1σ) Accuracy: 0.02 degrees* (1σ)
Update frequency: 4 Hz Update frequency: 4 Hz
*If a beacon is employed, the accuracy of the vessel’s gyrocompass must also
be considered and a typical overall accuracy is 0.4 degrees.

• both Mobile and Fixed station has to be powered from external 230 VAC supply
(only UPS 30 min supply is usually installed) so the users has to be aware that the
Fixed station can be powered down accidentaly or due to failure or on installation.
• stations can be manufactured in explosion proof version; in that case the possitive
pressure is maintained inside the unit to disable gas ingress possibility; such a stations
require air supply; if air supply fails, alarm is generated;
• stations can work in „handsearch” or „autosearch” mode; when „autosearch” is used the
search sector has to be defined adequately to avoid sectors, where the reflected signals
cause failed lock;
• Artemis stations are defined as low power microwave transmitters so their radation is
not so dangerous as navigational radar but direct exposures should be avoided.
 Artemis operational considerations

Microwave
link
ARTEMIS
FIXED
STATION

PLATFORM ARTEMIS STILL „IN

VIEW” BUT LINK
LOST

ARTEMIS SCAN LIMITS ENTERED TO AVOID SEARCH

AREA INCLUDING PLATFORM TOPSIDE
Remember that the vertical beam of Artemis
antenna is 22 deg.
When the limits for Autosearch are defined, it
can limit system usage. When the antennas are at different heigths and in
The limits has to be defined preciselly or
close distance they can be out of beam sector.
corrected if neccessary.
Remember to change the Fixed station set up
before you loose the link. Remote control is not
possible when link is already lost.
 Artemis operational considerations

FUNNEL GASES
FLARE

MOBILE
ANTENNA

GENERTAOR EXHAUSTS

FIXED ANTENNA

The radiated heat on the way of Artemis signal path can influence the system accuracy.
 Artemis Summary
ADVANTAGES:
- Long Range
- High accuracy
- Possible to geographically reference the position data
- Very convenient when inside the 500m zone

DISADVANTAGES:
- Requires a fixed station established on a installation
- Fixed unit needs to be correctly calibrated and configured
- Specially designed units needed for hazardous areas
- May require assistance from platform personnel to set up
- May suffer interference from platform personnel
- May suffer interference from heat or precipitation
- May suffer line-of-sight interruption
- Vulnerable to power supply problem at Fixed end
- Interference from 3cm radar
 RADius
RADius – RAnge and |Direction RADius – RADar frequencies are used for
measurements to obtain measurements;
position;
RADius working frequency:
5.51 – 5.61 GHz (~ 5cm)
TRANSPONDERS
(one is enough but can be more)
g
in
ar
Be
nd
ea
ng
Ra

INTERROGATOR

RADius consists of an interrogator located on the DP vessel and one or several transponders with
unique identity deployed on the target (vessel or installation).
The RADius system measures distance and bearing from the interrogator to the transponders.
 RADius – distance measurement
RADius measures range based on
FREQUENCY

SIGNAL TRANSMITTED
the FM-CW (Frequency
Modulated Continuous Wave)
Fs principle.

Transponder
TIME The transmitter sweeps the output
Ts frequency and the received signal
REFLECTED SIGNAL
is mixed with the transmitted
FREQUENCY

signal.

The transmitter signal has changed

frequency during the time of flight
TIME compared to the signal received
and the difference between these
Fb – Beat Frequency two frequencies is measured.
(frequency change between
transmitted and reflected signal)
This frequency difference is
1 Fb proportional to the distance to the
D- distance D= × × Ts × C transponder.
C – speed of light 2 Fs
 RADius – bearing measurement

Transponder
RADius determines bearing to
Patch 1 transponders by utilization of several
receiver antenna elements integrated on
a circuit board.
The principle of angle determination is
Interrogator

based on measuring the carrier phase

d 2∏
φ D = d × sin α × simultaneously on the different antenna
λ elements.
α When the signal source is directly in
n(α)
i front of the antenna elements, the carrier
*s
Patch 2 d λ will be equal on all the elements showing
s
=
sin α = φ D that the angle to the transponder is 0.
2Π ∗ d When the transponder is off center from
the antenna elements, the radius beam
α - signal angle at interrogator will hit them asymmetric.
The difference is then used to determine
φD − phase difference observed the angle to the transponder.
between patch 1 and 2
 RADius – system elements
• RADius 1000 - Interrogator
The interrogator is mounted on the outside of
the vessel. It contains antenna elements, a
transmitter and a signal processing front end.
• RADius Workstation
The workstation contains RADius Processing
unit, a graphical user interface and serial
interface. The System is delivered in a 6U 19’’
rack with keyboard, video display unit and
power/ connection module.
• RADius 500, 600 and 700
transponder
There are both low power (battery operated)
and high gain transponders available.
• RADius 500X and 600X transponder
AT EX certified intrinsically safe transponders
in low power (battery operated) and high gain
versions.
• User Terminal Application
Software
 RADius – system elements
The transponders are coded with unique ID’s.
Up to five transponders can be tracked simultaneously by the
• RADius 500 transponder
interrogator.
low power, weight 1.5 kg;
Operator software automatically identifies all transponders in
operational range up to 360 m
the operational range and displayes their positions on the plot.

Interrogator and transponders

have 90 deg (+/- 45 deg) working
• RADius 600 transponder angle
High gain, long range, weight 1.5 kg;

it
operational range up to 1100 m

Se
r lim

cto
rl
Se c t o

im
it
• RADius 700 transponder
long range, battery operated, weight 6 kg;
operational range up to 1100 m
 RADius – system accuracy
High
Precision
TRACKING ACQUISITION
RANGE RANGE

RADius accuracy depends on distance

and the transponder type

DISTANCE TO TRANSPONDER

Radius 500 Low

0 – 80 m 80 – 200 m 200 – 400 m
Power Transponder

Radius 600 High Gain

0 – 200 m 200 –500 m 500 – 1000 m
Transponder

High precision Tracking range Acquisition range

Accuracy: Accuracy: only range

Operational mode range < 0.5 m range < 1 m measurements
azimuth < 0.5 deg azimuth limited
accuracy
 RADius – system features summary
Adavntages: Main disadvantage:
• No moving parts system achieves high accuracies at very
• Multi user feasibility close ranges to target, so can be used in
• Multiple transponder capability DP at final stage of DP set up and has
• Operates in all weather conditions limited aplicability during approaching
• Accuracy complementary to existing GPS phase.
reference system
• Designed to meet all IMO DP Class
requirements
• Operates in license free radio band
• EX version available

Transponders have 90 deg (+/- 45 deg)

working sector (horizontal & vertical)

Several targets can be used at same time

 RadaScan - microwave system of GCS
FMCW radar
Frequency Modulated
Continuous Wave

9.25 GHz (~ 3 cm)

The transponders are battery operated
introduce unique code into reflected
signal.
• range up to 1000 m; RetroReflective
• reliable tracking of TRANSPONDER
coded targets; (weight -11 kg)
Accuracy:
distance – 0.05% of range
angle – 0.03 deg at 500 m
• Transponder sectors:
+/- 45 deg horizontal
+/- 25 deg vertical
INTERGORRATOR • Antenna beam +/- 16 deg