Kongsberg K-Pos

Follow Target Mode

Operator Manual
Release 7.1

322291/B
August 2010 © Kongsberg Maritime AS
Document history
Document number: 322291
This version describes operation of the Follow Target mode of
Rev. A October 2008
the K-Pos system at K-Pos basis software release 7.1.
This version describes operation of the Follow Target mode of
Rev. B August 2010
the K-Pos system at K-Pos basis software release 7.1.7.

The reader
This operator manual is intended as a reference manual for the system operator. This manual is based on
the assumption that the system operator is an experienced DP operator with a good understanding of basic
DP principles and general DP operation. If this is not the case, then the operator should first attend the
appropriate Kongsberg Maritime training courses.

Note
The information contained in this document remains the sole property of Kongsberg Maritime AS. No
part of this document may be copied or reproduced in any form or by any means, and the information
contained within it is not to be communicated to a third party, without the prior written consent of
Kongsberg Maritime AS.
Kongsberg Maritime AS endeavours to ensure that all information in this document is correct and fairly
stated, but does not accept liability for any errors or omissions.

Warning
The equipment to which this manual applies must only be used for the purpose for which it was
designed. Improper use or maintenance may cause damage to the equipment and/or injury to personnel.
The user must be familiar with the contents of the appropriate manuals before attempting to operate
or work on the equipment.
Kongsberg Maritime disclaims any responsibility for damage or injury caused by improper installation,
use or maintenance of the equipment.

Comments
To assist us in making improvements to the product and to this manual, we welcome comments and
constructive criticism.
e-mail: km.documentation@kongsberg.com

Kongsberg Maritime AS
www.kongsberg.com
 Operator Manual

Table of contents

FOLLOW TARGET MODE .................................................... 5

FOLLOW SINGLE MOBILE TARGET..................................... 6
MULTI TARGETING............................................................ 7
ENTERING FOLLOW TARGET MODE ................................... 9
CORRUPTED TARGET SIGNALS ........................................ 11
HEADING CONTROL ........................................................ 11
POSITION CONTROL ....................................................... 12
STOPPING DURING FOLLOW TARGET MODE ................... 12
SPEED CONTROL ............................................................. 12
ACCELERATION ............................................................... 12
RATE OF TURN ................................................................ 13

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Follow Target mode

A K-Pos system with Follow Target mode has one of two available configurations:
• Follow Single Mobile Target
• Follow Multiple Mobile Targets
Follow Single Mobile Target enables the vessel to automatically follow a moving target
and keeps the vessel within a “position window” relative to the target. The moving target
must be equipped with a mobile reference transponder or laser reflector in order for the
K-Pos system to monitor its relative position. If, for example, the moving target is
a Remotely Operated Vehicle, then the vessel must be equipped with a Hydroacoustic
Position Reference (HPR) system.
In addition to a mobile reference transponder on the target, an additional fixed
position-reference system is required, such as DGPS or a fixed transponder deployed
on the seabed.
You can define a circle of operation within which the target can move without causing
the vessel to move. The radius of this circle (the “reaction radius”) can be up to 1000 m.
You can also pause the vessel movement during Follow Target mode. How the vessel
reacts in this situation is described in chapter Stopping during Follow Target mode on
page 12.
Figure 1 Follow Single Target

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Follow Multiple Mobile Targets enables a DP vessel to follow a moving structure or

vessel equipped with two or more targets (such as laser reflectors). For example, a
Fanbeam position reference system with software for dual target can typically be used.
The moving structure can be followed both with respect to position and heading.
The operator can select between the following operational modes:
• Follow Position, makes the vessel follow the moving structure with respect to
position. The vessel will always have the same position relative to the moving
structure, while maintaining the absolute heading.
• Follow Heading, makes the vessel follow the moving structure with respect to
heading. The vessel will always have the same heading relative to the moving
structure, while maintaining the absolute position.
• Follow Position and Heading, makes the vessel follow the moving structure with
respect to both position and heading. The vessel will always have the same position
and heading relative to the moving structure.

Follow single mobile target

This section describes the Follow Target dialog box in a K-Pos system that has the Follow
Single Mobile Target configuration.
To display the Follow Target dialog box, select AutoPos →Follow Target.

Mobile Targets
To select a target, in the Available list, highlight the required target and click Add.
To remove a target from the Selected list, highlight the target you want to remove
and click Rem. Only one target can be selected at a time.

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Reaction Limits
Position
Defines the reaction limit for position (reaction circle). The value entered (between
0 and 1000 m) is the radius of the reaction circle for the mobile target.
Position Filter
Filter constant
Enter the required filter constant (0 to 100%) to increase or decrease the degree of
position filtering. A high percentage (50 to 100%) gives a high filtering which is
recommended if there is noise or unstable measurements from the target. A low
percentage (0 to 50%) gives a low filtering which should be used if measurements
from the target are stable and reliable.

Multi Targeting
This section describes the Follow Target dialog box in a K-Pos system that has the Follow
Multiple Mobile Targets configuration.
To display the Follow Target dialog box, select AutoPos →Follow Target

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Mobile Targets
To select a target, in the Available list, highlight the required target and click Add.
To remove a target from the Selected list, highlight the target you want to remove
and click Rem.
Operation mode
Follow Position
Choose this to make the vessel follow the moving structure with respect to position.
The vessel will always have the same position relative to the moving structure,
while maintaining the same absolute heading (setpoint) as shown in the following
illustration. At least one target must be selected for this option to be available.

Follow Heading
Choose this to make the vessel follow the moving structure with respect to
heading. The vessel will always have the same heading relative to the moving
structure, while maintaining the same absolute position as shown in the following
illustration. At least two targets must be selected for this option to be available.

Follow Position and Heading

Choose this to make the vessel follow the moving structure with respect to both
position and heading. The vessel will always have the same position and heading
relative to the moving structure as shown in the following illustration. At least two
targets must be selected for this option to be available.

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Reaction Limits
Position
Defines the reaction limit for position (reaction circle). The value entered (between
0 and 1000m) is the radius of the reaction circle for the mobile target.
Heading
Defines the vessel’s reaction sector for the heading relative to the moving structure.
Position Filter
Filter constant
Enter the required filter constant (0-100%) to increase or decrease the degree of
position filtering. A high percentage (50-100%) gives a high filtering which is
recommended if there is noise or unstable measurements from the targets. A low
percentage (0-50%) gives a low filtering which should be used if measurements
from the targets are stable and reliable.

Entering Follow Target mode

You can enter the Follow Target mode from either the Joystick or Auto Position mode.
1 Enable a fixed position-reference system as the reference origin (see the Position
Information chapter in the relevant K-Pos (OS) Operator Manual).
2 Select Sensors →Reference System Settings.
• The Reference System Settings dialog box is displayed.
a Enable the transponder(s) on the target to be tracked.
b Check the Mobile check box for the transponder if necessary.
3 Select Settings →Follow Target.
• The Follow Target dialog box is displayed.
a In the Available list, highlight the mobile target you wish to use and click
the Add button to select it.
b When using Follow Multiple Mobile Targets, select the required Operation
mode.
c Set the required Reaction limits and Position Filter values.

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d Click the Apply button to use the values entered in the Follow Target dialog
box.
4 Press the FOLLOW TARGET mode button twice.
• The FOLLOW TARGET status lamp is lit.
• The SURGE, SWAY and YAW status lamps are lit.
• The reaction radius is displayed on the Posplot view as a circle around the filtered
position(s) of the mobile target(s). For Follow Single Mobile Target, see Figure
2. For Follow Multiple Mobile Targets see Figure 3.

Additional information
Follow Single Mobile Target:

Figure 2 Posplot view in Follow Single Mobile Target mode

As the mobile target moves, the vessel’s position setpoint remains unchanged.
When the mobile target reaches the edge of its reaction radius circle, the position setpoint
is updated automatically to restore the vessel to the same position relative to the target,
and the reaction radius circle is redrawn around the new position of the mobile target.
Follow Multiple Mobile Targets:
As the mobile targets move, the vessel’s position/heading setpoint(s) remain(s)
unchanged.
When one of the mobile targets reaches the edge of its reaction radius circle, the position
setpoint is updated automatically to restore the vessel to the same position/heading
relative to the targets, and the reaction radius circles are redrawn around the new
positions of all the mobile targets.

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Figure 3 Posplot view in Multi Target mode

Corrupted target signals

It may occur that the signals from the targets are corrupted. To avoid a sudden change in
the vessel’s position setpoint because of unstable measurements, a position setpoint jump
test is performed. If the distance between the previous position and the new position
is longer than a predefined limit, it is assumed that the change is caused by unstable
measurents (no “real” position change).
The vessel maintains its present position and the following warning message is displayed.
Follow target relative angle rejected
In this event the operational advice is as follows:
• Take the K-Pos system to Auto Position mode to reset the Follow Target function.
• Consider using other targets and increasing the reaction limits.

Heading control
All of the standard methods for heading control are available as described in the
Changing the Heading Setpoint chapter of the relevant K-Pos (OS) Operator Manual.
In the Follow Target mode, choosing System Selected heading from the Change Heading
dialog box will maintain the vessel at the heading that requires the minimum power
in the current environmental conditions.
System Selected heading is not available in Follow Multiple Mobile Targets mode when
Follow Heading or Follow Position and Heading is selected.

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Position control
When in Follow Target mode, you can change the distance to the target whenever
necessary. All of the standard methods for position control are available as described in
the Changing the Position Setpoint chapter of the relevant K-Pos (OS) Operator Manual.

Stopping during Follow

Target mode
During Follow Target mode you can use the STOP button to pause the movement of the
vessel. The vessel starts to slow down in a controlled manner at a rate that depends
on the selected controller gain. The position/heading setpoint is updated continuously
according to the selected Operation Mode for Follow Target. When the STOP button
is deselected the vessel will move to be positioned at the same distance/heading to the
target as defined earlier.

Speed control
See Speed Setpoint dialog box and the Speed page of the Position dialog box in the
Changing the Position Setpoint chapter of the relevant K-Pos (OS) Operator Manual for
more information.

Acceleration
See Acceleration/Retardation Settings dialog box in the Changing the Position Setpoint
and Changing the Heading Setpoint chapters of the relevant K-Pos (OS) Operator
Manual for more information.

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Rate of Turn
See Rate Of Turn page of the Heading dialog box in the Changing the Heading Setpoint
chapter of the relevant K-Pos (OS) Operator Manual for more information.

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©2010 Kongsberg Maritime