Dynamic

Positioning
System
 Dynamic Positioning System

Features
The Mega-Guard Dynamic Positioning
System (DP) automatically controls a vessel’s
heading and position by activating thrusters
based upon data as received from position
reference systems, gyrocompasses, wind
sensors and motion reference units. The Auto
Track mode allows the ship to move along a
pre-defined track at low speed as defined by
the operator.

The Mega-Guard Joystick Control System (JC)

is a basic version of the Mega-Guard DP system
and allows the operator to automatically
control the heading and manually position the
vessel based upon data as received from
gyrocompasses and wind sensors.

The Mega-Guard DP and JC system are based

upon the field-proven products of the
Mega-Guard product line and the experience as
gained on the design and delivery of joystick
Operator Workstation with Colour Graphic Screen and Trackball control systems as supplied on many different
kind of vessels since 1980 (see reference list).

The Mega-Guard DP and JC system are suited for e.g. supply vessels, tug boats, dredgers, cable and pipe laying
vessels, FPSO's, heavy lift vessels and mega-yachts in full accordance with the applicable classification and
IMO rules (DP1, DP2 and DP3).

Main advantages
Accurate positioning with up to 1dm accuracy in combination with high accuracy position reference (GNSS, laser,
radar) and thrusters.
Sea trial tuning and testing can be limited to three days maximum. Parameter tuning is already done before
shipment out of our factory by modelling of the ship and testing with a ship simulator.
Extremely reliable hardware by using only solid state components and 24VDC power supply for all components
within the DP system. All Mega-Guard DP hardware and software is designed and manufactured by Praxis
Automation Technology and is applied in other Mega-Guard products as well (AMCS, VCMS, PMS, PCS, INS, etc).
Various language options are available including Chinese, Japanese and others.
Supports third party and own (Mega-Guard brand) position reference systems: Mega-Guard DGPS, GNSS with
Seastar, Hydroacoustic Position Reference (HPR) and Taut wire Position Reference (TPR).
Cost effective DP solution. Reliable hardware that is field proven on hundreds of vessels, allows for efficient off the
shelf manufacturing in large quantities. As a result, we can offer our advanced Mega-Guard Dynamic Positioning
System, including sensor package, at a very attractive price level. In addition, our customer's investment is
supported by a world wide service network.

2
References
Cable and pipe laying vessels (DP2)
Offshore supply vessels (DP1 and DP2)
Ocean salvage vessels (DP2)
Tug and work boats (DP1)
Multi purpose vessels (DP1 and DP2)
Platform crew boats (DP1)
Passenger ferries (DP1)
Jack-up platforms (DP1)
Mega-yachts (DP0)
Supply Vessel
Cruise ship (DP0)
Applicable classification: DNV, BV, LR, GL, ABS, CCS, RS, IRS, NKK.

Joystick and Trackball panel

Control mode selection is executed with pushbuttons on the Joystick panel. Step adjustments of position and
heading setpoints can be made on the Joystick panel as well. Larger size widescreen TFT's also allow for absolute
entering of position (northings/easting or UTM) and heading (degrees) setpoints through the Trackball panel.
Vessel behavior, sensor data and thruster data (setpoint and feedback) are shown on mimic diagrams on the
widescreen TFT's. The following main Control Modes can be selected on the Joystick panel:

Joystick Manual Auto Heading

Joystick Auto Heading Auto Position (option on JC Workstation)

Various other modes can be selected on the DP Operator Workstation when the system is in Auto Position mode:

Auto Position- Minimum Power Mode ;Weather Vane Mode Auto Position-Joystick Manual Surge/Sway Mode
Auto Position- Minimum Power Mode ;Positioning Circle Mode Auto Track (low and high speed) Mode
Auto Position-Joystick Manual Surge Mode Track Follow Mode
Auto Position-Joystick Manual Sway Mode

In addition, the DP system can be used as a training system by entering the Simulator-Trainer mode. The Simulator
mode can only be selected on the DP Operator Workstation when the DP and JC system are not active (thrusters
in individual mode). The built-in Simulator-Trainer mode fulfills the rules of a Nautical Institute Class C simulator.

Models
Mega-Guard JC
Joystick Control System with optional
ESC TAB DEL position holding capability
JOY MAN
MAN SURGE Mega-Guard DP0
7 8 9
JOY MAN Dynamic Positioning System
AUTO SWAY

4 5 6 Mega-Guard DP1
AUTO
POS
ESC
Dynamic Positioning System with
1 2 3
AUTO
HOLD
independent JC System
HDG
. 0 Mega-Guard DP2
CTRL ACC ENTER Dual redundant Dynamic Positioning
- +
System with independent JC System
Mega-Guard DP3
Triple redundant Dynamic Positioning
Joystick and Trackball panel
System with independent JC System

Ship automation, navigation and electric propulsion

3
 DP Operator Workstation

Operator mimics
The DP Operator Workstation
contains user friendly mimic diagrams
which enable safe and accurate DP
operations. The following main mimic
diagrams are available:

Map (North pointing upwards)

Diagram (bow pointing upwards)
Capability
Positioning sensors
Other sensors

The following sections describe the

various functions available within the
mimic diagrams.
Map mimic as displayed on Operator Workstation

Map section
Heading indication with
Diagram section compass slider
Heading indication with rotating compass and rotating HDG (°) and ROT (°/min)
decimal degrees Latitude / Longitude; map indication
HDG (°) and ROT (°/min) COG (°) and SOG (knot)
Latitude / Longitude Error North (m) and Error East (m)
COG (°) and SOG (knot) Vessel orientation, heading
Error X (m) surge and Error Y (m) sway and movement
Wind and current vectors relative SOG vector (green)
Total thrust vector with thrust amplitude and direction Wind vector (yellow)
Individual thrust indication for each thruster with amplitude Force vector (white);
and direction controller output

Thruster section
Bargraph and numeric value for
each thruster: setpoint and
feedback
An icon for each thruster showing
thrust angle setpoint and feedback
Thruster ready indication
Heading controller output
Station in control and
Operating mode

Alarm area
6 rows for alarm display with alarm
Footprint mimic as displayed on Operator Workstation acknowledgement for each alarm
Day/night vision selection

4
Capability section
Online X-Y plot of wind capability
with selected thrusters and
selected current value
Capability plot with 80% thrust,
100% thrust and with worst case
thruster failure
Wind vector; direction and speed;
if this vector reaches the capability
boundries the vessel is out of
capability
Current settings

Sensor section
Supports multiple position reference
systems: DGPS, laser, radar,
hydroacoustic, taut wire and winch Capability mimic as displayed on Operator Workstation
Supports multiple sensors:
gyro, wind and motion reference
unit (MRU)
Absolute (Northings and Eastings)
or relative coordinates
Sensor validation and weighing Environmental setting
Wind compensation setting in between 0% and 100%
Current direction (°)
Heading setting Current speed (knot)
Heading setpoint (°) and ROT (°/min)
Check box to select or de-select automatic current
maximum
compensation
Alarm limit (°)
Steer limit (°)
Heading gain (%)

Position setting
Step (m) adjustment
Bearing (°) adjustment
Relative (X/Y) or absolute (N/E )
Position setpoint mode
Alarm limit (m)
Set new position
Up/down and Left/right step (m)
Position gain

Joystick setting
The following parameters can be set:

Joystick gain
Display of thrust vectors to the Power Management mimic as displayed on Operator Workstation
thruster controller

Ship automation, navigation and electric propulsion

5
 DP scope of supply

General description
The Mega-Guard Dynamic Positioning
System consists of highly reliable
Dynamic Positioning class notifications and scope of supply
(redundant) DP Operator Workstation
Class society IMO CCS ABS LRS DNV BV
Dynpos Dynapos and Thruster Controllers (one for each
Notation DP1 DP2 DP3 DP1 DP2 DP3 DP DP DP DP DP DP DP DP AUT AUT AUT AUT SAM AM/ AM/ Thruster) which are interconnected by
S0 S1 S2 S3 CM AM AA AAA S R RO AT AT R
a redundant DP Ethernet network.
Mega-Guard DP1 DP2 DP3 DP1 DP2 DP3 DP0 DP1 DP2 DP3 DP0 DP1 DP2 DP3 DP0 DP1 DP2 DP3 DP0 DP1 DP2 DP3

Position 1 *3 *3 2* 3* 3* 1 2 *3 *3 1 2* 3* 3* 1 2* 3* 3* 1 2 3 3
The central processing unit of the
DP Operator Workstation consists
Wind 1 3 3 1 2 2 1 2 3 3 1 2 2 2 1 1 2 2 1 1 2 2
of a DP Controller equipped with
Gyro 1 3 3 1 2 3 1 2 3 3 1 2 3 3 1 1 3 3 1 2 3 3
interfaces to the high brightness
VRS (MRU) 1 2 3 1 2 3 - 1 3 3 1 2 3 3 1 1 3 3 1 1 2 2 TFT screen, the redundant
UPS 1 2 3 1 2 3 - 1 2 3 - 1 2 2 - 1 2 3 0 1 2 3 DP Ethernet network, the Joystick
The table indicates the number of required reference sensors
panel, the Trackball panel and
* Position reference systems to be of different type. Dispensation can be given by class for DP1 in case not practical
(multiple) 8 channel NMEA Input
modules for connection to Heading,
DP class notification and scope of supply table
Wind, Position and Motion Reference
Unit sensors. The Mega-Guard
Joystick Control System is identical
with the Mega-Guard DP system.
Scope of supply
The Joystick panel is equipped with a robust joystick which supports
a rate of turn action as well. In addition, pushbuttons are available for
mode selection and step adjustment of position setpoint (fore-aft, BARCODE LABEL PRODUCT LABEL

port-starboard) and heading setpoint. A

B
1
THRUSTER 1
DP CONTROL SELECTED
THRUSTER 1
PITCH FEEDBACK 7
A

A A
SWITCH
2 DP/JC IN CONTROL 8
The DP Operator Workstation can be operated by Trackball panel B

A
B

A
PS SHAFT GEN PS SHAFT GEN
3 BREAKER LOAD 9
and/or Touchscreen. The Trackball panel is equipped with an operator B

A
B

A
BUSTIE 1 BUSTIE 3
4 BREAKER STATUS BREAKER STATUS 10
friendly ergonomic trackball and numeric keypad for easy entering e.g. B B

A A
THRUSTER 1 THRUSTER 1
5 11
a position setpoint (northings/easting or UTM). B
DP CALL CONTROL PITCH SETPOINT
B

A A
6 12
B B

Each thruster is equipped with its own independent Thruster Controller

and accepts any kind of thruster suitable for DP applications (e.g. CPP
with rudder, azimuth thruster, tunnel thrusters etc).
The Thruster Controllers provide a redundant DP Ethernet network
interface to the (redundant) DP Controller. In addition, the Thruster 24V 13
24Vdc IN 1 24Vdc IN 2
17 24V
0V 14 18 0V
Controllers are equipped with an independent and redundant c 15 19 N.C.
FAILURE
nc 16 20 N.C.
JC Ethernet network interface to the JC Controller and include
redundant isolated power supply inputs. ETH
1A
ETHERNET 1A ETHERNET 2A
ETH
2A

The Thruster Controllers are suitable for central installation on the ETH ETHERNET 1B ETHERNET 2B ETH
1B 2B
bridge (all Thruster Controllers mounted in a single cabinet) or for
de-central installation near each thruster (each Thruster Controller c 21
HORN OUTPUT XP051 DP
no 22

mounted on a DIN rail or in a single cabinet) r+ 23 ADDRESS

r- 24 RESISTOR

The redundant UPS powers the Mega-Guard DP System. A unique

feature of the Mega-Guard DP system is that it is completely powered Thruster Controller
by 24VDC.

6
DP Controller with extended Kalman filtering
The Dynamic Positioning controller is based on a
detailed mathematical model of vessel motion in
response to forces from thrusters, wind, waves and
water current. The controller uses an extended Kalman
filter for optimal estimation of vessel motions and
environmental forces from wind, waves and current.
The DP Controller is based on feedback from the
motion variables where the oscillatory, wave-induced
component is removed by the estimator. Feedback
from the water current estimate provides the integral
action of the system and feed forward from the wind
force estimates are implemented.

The DP Controller keeps accurate heading and position

DP Operator Workstation with built-in DP controller
control within the operator specified limits.

Reference sensors
The reference sensors are divided in the following categories:

Position reference system; e.g. DGPS, GNSS, laser, radar, hydroacoustic and taut wire.
Heading reference system; e.g. gyro.
Environmental reference system; e.g. wind sensor.
Ship motion reference system; e.g. MRU.

Interface with PMS

An interface is provided to the Power Management System in order to request for sufficient electrical power in case
the vessel is controlled by the Dynamic Positioning System. At the same time, the Mega-Guard Dynamic Positioning
System will make sure that the thrusters do not consume more power than available, in order to prevent a blackout.

DPO Training System

The Mega-Guard DPO Training System is supplied in
accordance with the rules of the Nautical Institute and
DNV. The Mega-Guard DPO Training System is a full
DP Bridge simulator which is supplied in 3 different
classes fulfilling the rules of Class A, Class B and
Class C DPO training system.

The Class A Training System includes a DP2 set-up

including individual thruster controls and an outside
view with 65” TFT screens providing an outside view
of 240 degrees.

Class B includes a DP2 set-up and an outside view

of 120 degrees.

Class C includes a single DP Workstation with built-in DPO Training System

simulator and trainer and optionally an outside view.

Ship automation, navigation and electric propulsion

7
 DP system lay-out

Mega-Guard DP0 Block Diagram

DGPS GLONASS
NTRIP MRU WIND GYRO

Portable DP Workstation DP 1 Workstation

NMEA
24Vdc 1 TFT 17~26"

Connection Boxes Ethernet DP

USB

USB USB
230Vac

Deskjet
Printer

Joystick Trackball

Ethernet DP Ethernet DP

Thruster Thruster Thruster Thruster Thruster Thruster

UPS Cabinet 1 Controller Controller Controller Controller Controller Controller
24Vdc 1 24Vdc 1 24Vdc 1 24Vdc 1 24Vdc 1 24Vdc 1
24Vdc 24Vdc 24Vdc 24Vdc 24Vdc 24Vdc
24Vdc 1
230Vac

Thruster Controllers mounted central (on bridge) or local (near thrusters)

Mega-Guard DP1 Block Diagram

DGPS GLONASS DGPS GLONASS LASER RADAR HYDRO-
NTRIP SEASTAR VERIPOS CYSCAN RADASCAN TAUT WIRE ACOUSTIC MRU MRU WIND WIND GYRO GYRO

Portable DP Workstation DP 1 Workstation JC Workstation

NMEA

NMEA

24Vdc 1 TFT 17~26"

Touch TFT 10"
Connection Boxes Ethernet DP
USB 24Vdc

USB USB USB

230Vac

Deskjet
Printer

Joystick Trackball Joystick

Ethernet DP Ethernet DP
Ethernet JC Ethernet JC
Thruster Thruster Thruster Thruster Thruster Thruster
UPS Cabinet 1 Controller Controller Controller Controller Controller Controller
24Vdc 1 24Vdc 1 24Vdc 1 24Vdc 1 24Vdc 1 24Vdc 1
24Vdc 24Vdc 24Vdc 24Vdc 24Vdc 24Vdc
24Vdc 1
230Vac

Thruster Controllers mounted central (on bridge) or local (near thrusters)

8
Mega-Guard DP2 Block Diagram
DGPS GLONASS DGPS GLONASS DGPS GLONASS LASER RADAR HYDRO-
NTRIP SEASTAR VERIPOS SEASTAR VERIPOS CYSCAN RADASCAN TAUT WIRE ACOUSTIC MRU MRU WIND WIND GYRO GYRO GYRO

Portable DP Workstation DP 1 Workstation DP 2 Workstation JC Workstation

NMEA

NMEA
24Vdc 1 TFT 17~26" 24Vdc 2 TFT 17~26"
Touch TFT 10"
Connection Boxes Ethernet DP Ethernet DP
USB USB 24Vdc

USB USB USB USB USB

230Vac

Deskjet

230Vac
Laserjet
Printer
Printer

Joystick Trackball Joystick Trackball Joystick

Ethernet DP Ethernet DP
Ethernet JC Ethernet JC
Thruster Thruster Thruster Thruster Thruster Thruster
UPS Cabinet 1 Controller Controller Controller Controller Controller Controller UPS Cabinet 2
24Vdc 1 24Vdc 1 24Vdc 1 24Vdc 1 24Vdc 1 24Vdc 1
24Vdc 2 24Vdc 2 24Vdc 2 24Vdc 2 24Vdc 2 24Vdc 2
24Vdc 1 24Vdc 2
230Vac 230Vac

Thruster Controllers mounted central (on bridge) or local (near thrusters)

Mega-Guard DP3 Block Diagram

DGPS GLONASS DGPS GLONASS DGPS GLONASS LASER RADAR HYDRO-
NTRIP SEASTAR VERIPOS SEASTAR VERIPOS CYSCAN RADASCAN TAUT WIRE ACOUSTIC MRU MRU WIND WIND GYRO GYRO GYRO
NMEA

NMEA

Portable DP Workstation DP 1 Workstation DP 2 Workstation JC Workstation DP 3 Workstation

24Vdc 1 TFT TFT 24Vdc 2 TFT 24Vdc 2
17~26" 17~26" 17~26"
Touch TFT 10"
Connection Boxes Ethernet DP Ethernet DP
USB USB 24Vdc

USB USB USB USB USB USB USB

230Vac

Deskjet
230Vac

Laserjet
Printer
Printer

Joystick Trackball Joystick Trackball Joystick Joystick Trackball

UPS Cabinet 1 Ethernet DP Ethernet DP Ethernet DP

Ethernet JC Ethernet JC
Thruster Thruster Thruster Thruster Thruster Thruster
24Vdc 1 Controller Controller Controller Controller Controller Controller
24Vdc 1 24Vdc 1 24Vdc 1 24Vdc 1 24Vdc 1 24Vdc 1
230Vac 24Vdc 2 24Vdc 2 24Vdc 2 24Vdc 2 24Vdc 2 24Vdc 2

24Vdc 3 24Vdc 3 24Vdc 3 24Vdc 3 24Vdc 3 24Vdc 3

UPS Cabinet 2 UPS Cabinet 3

24Vdc 2 24Vdc 3
230Vac 230Vac

Thruster Controllers mounted central (on bridge) or local (near thrusters)

Ship automation, navigation and electric propulsion

9
 DP Position Reference System

Overview Position Reference

ThefollowingMega-GuardDPPositionReference
Systems(PRS)areavailable:
Position Reference Systems: Accuracy and Coverage

Technology Manufacturer Model Accuracy Coverage Remarks

DGPS with SBAS (DGN-5010)
95%
GNSS L1/L2 GPS/Glonass with option IALA (DGN-5020)
DGPS with SBAS DGN-5010 1m Global Differential signals
received via satellite Hydroacoustic Position Reference (HPR-5000)
GNSS L1/L2 GPS/ DGN-5020 0,2m Global Subscription required
Glonass with option IALA Seastar/Marinestar Taut wire Position Reference (TPR-5000)
Hydroacoustic Position HPR-5000 0.12 degrees 5000m from Depth in between
Reference transponder (X-Y) 300 to 4000m Third party position reference systems like DGPS
Taut wire Position TPR-5000 0.5 to 7m 500m from clump Depth in between
Reference (X-Y) weight (X-Y) 100 to 300m
with Veripos and position reference systems based
DGPS with Veripos L1/L2 Subsea7 LD5 0.2-1m Global Subscripton required on laser and radar are supported as well.
Options: Glonass,IALA
Laser Position Reference Guidance Nav. CyScan 0.2m 800m from Reflector mounted on The Mega-Guard DP system supports up to 16
reflector platform
Radar Position Reference Guidance Nav. RadaScan 0.2m 500m from Transponder mounted on different position reference systems. The final
responder platform
position is calculated taking into account the
Position Reference System Accuracy and Coverage
reliability, accuracy and weighing factor of each
position reference system.

GNSS L1/L2 GPS/Glonass with SBAS & Fugro Marine-/Seastar

The Mega-Guard GNSS position reference system is a cost effective GNSS solution to reach sub-meter accuracy
with global coverage and with Marinestar/Seastar subscription. The Mega-Guard GNSS consists of a smart
antenna with built-in electronics and a connection box mounted in bridge console. The GNSS can be operated from
the DP Workstation or from a separate GNSS Workstation (option). Specification of the GNSS:

L1, L2, SBAS and Marinestar/ Position and quality indication on

Seastar L band DP Workstation or GNSS Workstation
GPS and Glonass Accuracy with GPS and Glonass :2.5m
270 receiver channels Accuracy with SBAS :0.6m
Real time update 5 times per second. Accuracy with Marinestar/Seastar :0.2m
Upgradable to Galileo
CyScan/RadaScan
Note: accuracies specified with 2DRMS (95%) probability

Laser and Radar Position Reference

The Mega-Guard Dynamic Positioning System
GNSS supports Laser and Radar Position Reference
Smart Antenna GNSS Workstation
Systems from Guidance Marine.
The Cyscan is a laser position reference system.
NMEA It measures the range and bearing of reflective
To DP
position
targets allowing the Cyscan to calculate the positon
and heading relative to the target reflector on another
vessel or structure. The Cyscan is supplied as deck
unit and various type of reflectors are available.
The (mini) RadaScan is a radar position reference
Connection system. The RadaScan accurately measures the
Box
range and bearing of one or more intelligent
microwave targets called responders, allowing for
the calculation of vessel position and heading
GNSS with optional GNSS Workstation relative to the target responder on another vessel or
structure.

10
Hydroacoustic Postion Reference
The Mega-Guard Hydro Acoustic Position Reference
(HPR) is applied as a cost effective and highly accurate
position reference system for the Mega-Guard Dynamic
Positioning System. The position of the seabed USBL
Transponders are used as reference points for the
ship mounted USBL Transceiver. The MRU-INS, gyro
USBL Transceiver
and optional DGPS are connected to the HPR as well
AUTOMATION TECHNOLOGY

HPR
Workstation. The HPR Workstation accurately calculates Workstation

the relative position of the vessel taking into account the

data as received from the USBL Transceiver, MRU-INS,
gyro and optional DGPS. The USBL Transponder
contains a release mechanism with floating collar for transponder
floating collar
USBL Transponder release system
recovery of the transponder from the seabed. seabed weight

The Mega-Guard Hydro Acoustic Position Reference Hydroacoustic Position Reference

consists of the following components:

HPR Workstation providing a user friendly man-machine interface
USBL Transceiver with 5000 meter range
USBL Transponders for 4000 meter water depths
Motion Reference Unit
Control Cabinet

The USBL Transceiver can be mounted in two different ways:

Hull mounted with gate valve and deployment machine
Pole mounted with over-the-side pole USBL Transponder

Taut Wire Position Reference

The Mega-Guard Taut Wire Position Reference (TPR) is applied as position reference system for the Mega-Guard Dynamic
Positioning System. The taut wire deck winch is deck mounted at port or starboard side of the vessel. The Mega-Guard TPR
is very accurate, reliable and maintenance free as it is constructed as a full electric device (no hydraulics used for winch).
The Mega-Guard Taut Wire Position Reference consists of the following components:

Taut Wire Deck Winch with a 500 meter long /

6mm thick steel cable and clumb weight. The clumb
weight is lowered to the seabed and the cable is put
to constant tension. The deck winch includes a
Taut wire Operator Panel, with an LCD display and
pushbuttons for local operation. The relative position,
bearing and the tension of the steel cable are
displayed on the LCD display.
Taut Wire Control Cabinet, with control electronics
for the deck winch and a TPR Controller. The TPR
Controller controls the deck winch and calculates
the relative position of the ship taking into account
the input from the Motion Reference Unit for
compensating the roll and pitch off the vessel.
Taut Wire Operator Panel, for flush panel mounting
in bridge console, with an LCD display and Taut Wire Deck Winch
pushbuttons for bridge operation.

Ship automation, navigation and electric propulsion

11
 Vessel Power Fire CCTV
Management System Management System Alarm System Video Distribution

Ship Fleet Integrated Heading

Performance Monitor Management System Navigation System Control System

Propulsion Dynamic BNWAS Navigation

Control System Positioning System Watch Alarm System Light Control

Wiper Energy Electric Electric

Control System Management System Propulsion Motor Steerable POD

High DC bus Electric Electric Fin

Power Inverter Generator Energy Storage Stabilizer

Ship automation,
navigation and
electric propulsion

Praxis Automation Technology B.V., Zijldijk 24A, 2352 AB Leiderdorp, The Netherlands
Phone +31 (0)71 5255353, Fax +31 (0)71 5224947, Email info@praxis-automation.com, Web www.praxis-automation.com

05-2019