Dynamic Positioning

Operation and maintenance

C9
Microwave Reference Systems:
• Artemis
• Radius
• Radascan
 DP reference systems

Frequency Modulated
Continues Wave
Reference systems
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 transmission 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
All above make microwaves useful for the short and medium range and direction
measurements, which can serve for positioning purposes.
Microwave Systems for DP:
ARTEMIS 9.2 – 9.3 GHz (X-band)
RADius 5.5 – 5.6 GHz
RadaScan 9.25 GHz
Artemis
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.

Frequency: 9.2- 9.3 GHz

Horizontal Beam Width – 2 deg
Vertical Beam Width – 22 deg

The position of the moving object is

determined by measuring the
distance between the Mobile
station and the Fixed station and
by measuring the angle (azimuth)
of the Fixed antenna to the Mobile
station with respect to a reference
angle.
The purpose of the Artemis positioning system is to accurately determine and locate the position
of a mobile unit, for example a vessel, with respect to a known fixed point. The system consists
of two stations, the Mobile station on the moving unit and the Fix station on the known fixed
point.
To obtain the azimuth (bearing relative to north) of the Mobile station, the Fix antenna is aimed
at a reference object with known azimuth prior to locking the system. The distance of the Mobile
station to the Fix station is obtained by measuring the time elapse of coded interruptions in the
microwave signal transmitted by both stations.
The antennas of the Fix and Mobile stations automatically track each other by maintaining a
continuous microwave link. A precision shaft encoder, coupled to the Fix station’s antenna drive
shaft, measures the angle of the antenna with respect to a known reference direction, providing
the bearing of the Mobile station.
To avoid mutual interference in areas where two Artemis systems are operational, four
Fix/Mobile station frequency pairs are available. Frequency pair selection is done from the
operating panel. Automatic frequency control at the Mobile station keeps the frequencies of the
two stations exactly 30 MHz apart.
The system is portable and easy to install and thus being ideal as a sensor for dynamic
positioning (DP). Performance is unaffected by rain, fog or haze. The minimum range is 10 m,
and maximum range when used with DP is 10 km.
 Artemis
• With the system in 'lock', the antennas of the Fixed and the Mobile station
automatically track each other by maintaining a continuous wave (CW) microwave
link.
• This tracking is such that the imaginary line connecting the antenna centers is
always perpendicular to the two antennas, even when the Mobile station moves.
• With the beacon system the Mobile station's antenna tracks the fixed, i.e.non-
tracking beacon antenna.
• The beacon acts as a distance responder only.
• The azimuth of the moving object is calculated from the relative Mobile antenna
bearing and the object's heading as measured by a gyro compass.
 Artemis
• Short range system MKIV 15m – 30km (dp-10km)
MKV 10m-5km
• Range – Bearing system
• Micro wave system (freg. 9.2Ghz.-9.3Ghz.-3cm)
• User definable stations
• Very low radiated power (100mW)
• Performance unaffected by rain, fog or snow
• Full circular coverage around fix station
• Full remote control and monitoring of counter
station
 Artemis
Setup a unit

•Configuration: Mobile or Fix

•Frequency pair 0,1,2 or 3
•Address code 0-63 (do not use 62)
•Bearing alignment (mobile) Bow of
vessel=0̊
•Azimuth alignment (Fix) True north=0̊ or
bow vessel=0̊
•Scan sector
 Artemis
Operate

•Free line of sight?

•Correct mode selected : Mk4 (artemis mk4)?

•Correct frequency pair selected? (fix=mob)

•Correct address code selected? (fix=mob)

 Artemis

62 user selectable addresses

Given the available Artemis frequency band of
9200-9300 MHz, two Artemis systems can be
operated simultaneously in the same area by
choosing frequency pair 0 or 2 for one system
and frequency pair 1 or 3 respectively for the
other system. Whether more than two system
scan be operated simultaneously depends on
the relative position of the vessels’ work areas.

Normally no interference will occur if a spatial

beam separation of at least 10° is maintained.
If, for instance, the vessels are working at
different faces of a platform, i.e. have their Fix
station installed on different sides of the
platform, there is no interference to be
expected as long as the two beams do not come
within 10° of each other.
Artemis

Freg. Syst.1 = 0 mob 9200-fix 9230 or pair 2 mob 9230-fix 9200

Freg. Syst 2 = 1 mob 9300-fix 9270 or pair 3 mob 9270-fix 9300

In the above figure the direction of the

microwave beams of Fix 1 - Mobile 1and Fix 2
- Mobile 2 differs less than10°, so mutual
interference can be expected. This is especially
the case at larger working distances where the
beams converge. The solution is to choose
different frequency pairs.
 Artemis
DIP ZONES
Although microwaves propagate as direct waves
(from antenna to antenna), a part of the radiated
microwave energy is reflected against the water
surface and reaches the receiving antenna
indirectly. Since the reflected signal has to
travel longer and undergoes a 180° phase
change at the reflection point, there may be a
difference in phase between the direct and the
indirect signal at the receiving antenna.

This may cause the direct signal to be amplified (direct and indirect signal in phase) or
attenuated (direct and indirect signal 180° out of phase). The positions at which this phenomenon
is experienced are generally referred to as dip zones, range-holes, or interference zones, and are
only dependent on the antenna heights and the wavelength of the transmitted signal. The strength
of the interference depends on the distance between the transmitting and receiving antenna, and
the nature of the water surface. A smooth surface reflects the signal better than a choppy one.
 Artemis
ARTEMIS DIP ZONES
PRODUCT
H1 x H2 800

H1 = 6000 10000 14000 18000 22000 26000 30000

Mobile
700
antenna
height

H2 =
600
Fixed
antenna
height
500

DIP
400
ZONES

300

6000 10000 14000 18000 22000 26000 30000

DISTANCE (metres)
 Artemis beacon
ARTEMIS BEACON
BASE
POSITION

ARTEMIS ARTEMIS
BEACON MOBILE
ANTENNA
ARTEMIS MICROWAVE
LINK

THE BEACON IS SIMPLY

A TRANSPONDER. NO
BEARING DATA TRANSMITTED

OFFSHORE LOADING BEARING MEASURED SHUTTLE TANKER

TERMINAL WITH AT MOBILE ANTENNA DURING APPROACH
ROTATING TURNTABLE

TELEMETRY LINK ALLOWS TURNTABLE AZIMUTH TO BE

TRANSMITTED TO THE VESSEL SUCH THAT BEACON OFFSET
CAN BE COMPENSATED FOR, CORRECTING THE RANGE TO
THE BASE LOCATION
BEACON OPERATION
 Artemis
Fixed Station – azimuth alignment

North
North

A Telescope, mounted on
Visual reference point top of the fixed antenna, is used

FIX
 Artemis
Vertical range

ARTEMIS
FIXED
STATION

MOBILE
ARTEMIS
ANTENNA

MOBILE AND FIXED ARTEMIS LOST DUE ARTEMIS ACQUIRED

ANTENNAE AT TO VERTICAL BEAMWIDTH NORMALLY AT
AT CLOSE RANGE LONG RANGE
DIFFERENT HEIGHTS
 Artemis
Accuracy and specification:
 Distance accuracy = 1m

 Azimuth accuracy = 0.02°

 Beacon accuracy = using gyro accuracy

= approximately: 0.5°
Artemis MK 5 – Operate view
Artemis MK 5 – Setup view
Artemis advantage v.s. disadvantage
 Steady accurate system.
 Range and bearing relative and
true.
 High availability
 Distance up to 10km (MKV
5km) from fix station
 Limited range.
 Setting up fixed station costs
time and operator knowledge .
 Change on disturbance from
radar own and other vessels.
 Direct line between fixed and
mobile station.
 Strict operator procedure
especially on fixed station side.
RADius - Relative Azimuth and Distance
 What is RADius?
A relative positioning system, for short-range positioning applications.
The system is designed for “close by” DP operations where the need for robust and
reliable performance is critical. Statistics shows an increasing number of contacts or
collisions between vessels and installations offshore. As a consequence several
operators requires DP class 2 vessels for operations within safety zones of their
installations.
Further IMO guidelines require minimum three reference systems for class 2 and 3 DP
vessels. RADius is developed to meet these requirements and is a contribution to
increase the safety for these kinds of operations. RADius utilizes FM-CW (Frequency
Modulated – Continuous Wave) technology to measure range and bearing to one or
several transponders located on target vessel or installation. The system is fully solid
state without any moving parts and operates in all weather conditions.
 Microwave DP position reference-system of the
range – bearing type
 Range 10m – 200m
 Frequency band: 5,51 – 5,61 Ghz

 RADius outputs range and relative bearing to

the DP-system
 Local position reference system
RADius System Overview
RADius 1000
Interrogator Unit (IU)

RADius 800
Workstation

RADius 500/600/700
Transponders
RADius Specifications
• Temperature range: -25 - +55 °C (-13 - 131 °F)
• Frequency band: 5,51 – 5,61 Ghz
• Tx Power: < 1 W
• Beamwidth: 90° horizontal and vertical
• No moving parts

• Dimension/ Weight:
– Interrogator: 562x412x184 mm / 7 Kg
– Transponder: 220x228x72 mm / 1.4 Kg
Operational, one transponder is sufficient for DP operations and the system can utilize
up to five transponders simultaneously, increasing robustness and reliability. A
transponder can serve several interrogators simultaneously providing multi user
functionality in the system.
When operations are carried out relative to moving vessels, relative positioning systems
are needed. Floating production units can both move and change heading during loading
operations, and supply vessels will have to move with them during these operations.

It is usually assumed that availability of

satellite signals is satisfactory at sea. This
is not always true. As shown in Figure,
offshore structures can be large and block
the horizon for satellite signals, degrading
the performance of GPS based
positioning systems.
These structures may not only make a challenging environment due to signal blocking,
but also with regard to radio interference since many types of equipment actively uses
radio frequencies for a variety of purposes, affecting radio based systems not optimized
to suppress such interference.
The structures may contain numerous of surfaces creating optical reflections, which can
influence on availability and continuity performance of optical reference systems.
The RADius system is designed to operate close by structures or other vessels. The use
of identifiable transponders eliminates the risk of tracking false echoes or mix up
transponders.
 Transponder
#1

Transponder

ce
#3

distan
azimuth
RADius consists of an
interrogator located on the Transponder
DP vessel and one or #2
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 Interrogator
RADius Screen View
 RADius

Principles for Range measurement

Transmitted signal
frequency

Transponder
time

Reflected signal
frequency

time

Fb – beat frequency
The transmitter sweeps the output frequency and the received signal is mixed with the
transmitted signal. The transmitter signal has changed frequency during the time of flight
compared to the signal received and the difference between these two frequencies is
measured. This frequency difference is proportional to the distance to the transponder.
RADius Principles for Angle measurement

Transponder

Path 1

Path 2

2
d  s 
 , Phase difference, patch 1 and 2
The principle of angle determination is based on measuring the carrier phase
simultaneously on the different antenna elements. When the signal source is directly in
front of the antenna elements, the carrier will be equal on all the elements showing that
the angle to the transponder is 0. When the transponder is off center from the antenna
elements, the radius beam will hit them asymmetric. The difference is then used to
determine the angle to the transponder.
RADius
Operating Range – RADius 600 & 700
transponders

High precision Tracking range Acquisition range

range

10m 200m 500m

1000m
Accuracy Limited azimuth Distance only
Azimuth < 0.5° accuracy

Distance < 0.5 m

RADius Operational use – One transponder
RADius Operational use – Multiple transponders
 Operational use - Multiple Interrogators

Multiple interrogators – RADius 1000 D or 1000 Q

Extended sector:
180° (D) or 360°
SEATEX RADIUS
(Q)
 RADius Operational Advantages

No moving parts

Low maintenance cost
90° vertical beamwidth
Operates in all weather conditions
License free radio band
Multi user
Multiple transponder capability
Multiple Interrogator capability
Complementary to GPS
 RADius Operational Disadvantages

90° horizontal beamwidth

Limited Range (200m)
Using battery
transponders, battery should
be changed once a year
RADius
 RadaScan Microwave Radar Sensor

RadaScan Components

A RadaScan system consists of three main

components:

1. a sensor for the transmission, detection

and processing of radar signals;

2. a transponder(s);

3. a computer used to configure and

control the sensor, and to display data
and results to the DP operator.
RadaScan installation
 RadaScan Microwave Radar Sensor

Sensor Installation Placement

On an Offshore Supply Vessel (OSV), the typical mounting position for the
sensor is above the wheelhouse, with a clear view over the aft deck area.
The sensor should be mounted:

• with the inspection hatch facing towards the bows, parallel to the vessel’s fore
and aft centre-line.(Any deviation from the centre-line alignment can be corrected in the
console software);
• with an unobstructed view in the expected direction of the structure or vessel;
• well above sea-level to prevent swamping or immersion;
• on a different vertical level to any X-band radar systems;
• on a flat, rigid, horizontal surface able to support 120kg;
• allowing for easy access to the connection panel and sensor information
display.
 RadaScan Microwave Radar Sensor

Transponder Installation Position and Mounting

The location, range and orientation of the transponders in relation to the
sensor can have a significant effect on the tracking performance of the
system, and hence on the quality of the position data sent to the DP
system.

RadaScan is a radar-based system.

Metallic structures reflect the microwave beam transmitted by the
sensor, and can cause multipath interference, causing ghost images to
be reported by the system.
However, this unwanted phenomenon can be prevented by careful
selection of the sensor mounting location.
The operational range of the system is dependent on the incidence
angle between the sensor and the transponder.
RadaScan transponder incidence angle
RadaScan Microwave Radar
Sensor
Transponders should be mounted:

• at a height no lower than two meters

below the vessel-mounted sensor;

• at a height no higher than five meters

Good transponder mounting
above the vessel-mounted sensor;

• on the outside corners of the rig or

platform to minimize the amount of
metallic structure around them.

Poor transponder mounting

RadaScan Microwave Radar Sensor
Multiple Sensor/Transponder Operation

The RadaScan sensor automatically detects and

identifies transponders anywhere within a
360°coverage area where a line of sight exists
between the sensor and transponder. Each
transponder has a unique ID and will respond to
multiple sensors simultaneously due to its retro-
reflective properties.

Each sensor can be used with any available

transponder(s) allowing multiple vessels to operate in
the same region independently using the same, or
unique transponders.

The system provides range and bearing

measurements when using a single transponder and
additionally can provide heading information when
multiple transponders are used.
 RadaScan Microwave Radar Sensor

Range and Accuracy

• The RadaScan sensor beam is shaped to
give a high look-up angle, 35° at 25m, to
allow flexible installation of the
Transponders.
• It is not affected by fog, smoke or heavy rain
and can operate at close ranges down to
10m.
• Its long range capability, out to 1000m,
allows sensor lock and DP proving outside
the nominal 500m zone.
• Range repeatability is better than 0.1% of
operating range and angular repeatability is
approximately 0.60 (~10mrad) at 500m
(typical at sea).
• The update rate to the DP system is 1Hz.
 RadaScan Microwave Radar Sensor
Alarms page lists any messages
that have been received from the
sensor.
These are classified in importance
with colour: grey for information,
orange for warning and red for
failure.

Reflections page gives a tabulated

list of each transponder that has
been seen during the last scanner
head revolution.

Configuration page gives

information such as serial number,
DP feed format and message
string, software versions and
day/night view.
System Advantages

• Range and bearing available from single transponder operation up to maximum

system range;
• Using a multi-target configuration provides the other vessel’s heading which the
operator or DP system can use to maintain a relative heading;
• Can operate to maintain heading to a moving structure without the need for
gyrocompass input;
• Passive transponders require no power and little maintenance once installed;
• Data output to suit the majority of DP systems;
• Sensor provides range, bearing, heading and status alarm messages to the DP
system;
• Signal processing gives high level of immunity to false reflections and
environmental clutter;
• Operation is unaffected by fog, snow and heavy rain;
• Transponders are available with battery powered, mains powered, or
rechargeable battery options.
 RadaScan Microwave Radar Sensor

System Disadvantages

• Operational range is limited to 1000m;

• Care is required in selecting optimum transponder locations and
that line of sight is maintained throughout the operation;
• Permanently located transponders are recommended;
• Requires the use of manufacturer’s own transponders;
• Multi-target operation requires horizontal angular separation of
more than 7° between transponders.
Servicing and Maintenance
• The sensor is maintenance free and requires no calibration.
• The signal and power connectors are of military sealed design, but should be
checked for fastness or damage, together with the associated cabling.
• Battery powered transponders have a life of approximately 12 months in
continuous use.
• A magnetically switchable on/off variant is available for extended life. Batteries
should only be changed by an adequately trained or experienced technician.
• Rechargeable battery powered transponders require charging approximately every
30 days.
• Mains powered transponders require no maintenance.