ESCUELA NACIONAL DE NAUTICA “MANUEL BELGRANO” - FUNDADA EN 1799
ARPA AUTOMATIC RADAR PLOTTING AID
VICTOR FERRAZZANO 2014
1
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ESCUELA NACIONAL DE NAUTICA “MANUEL BELGRANO” - FUNDADA EN 1799
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Indice Capitulo 1: Características generales de un Sistema ARPA
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Capítulo 2: Descripción de un Sistema ARPA
11
Capítulo 3: Alarmas, símbolos estandarizados y maniobra de prueba
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Capítulo 4: Tipos de estabilización
33
Capítulo 5: Errores provocados por los elementos periféricos
39
Capítulo 6: Cinemática aplicada al ARPA
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Capítulo 7: 7: Error en los vectores verdaderos verdaderos por por la maniobra del buque buque propio
51
Apéndice: Resolución A.823(19)
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1
CARACTERISTICAS GENERALES DE UN SISTEMA ARPA 1.1 INTRODUCCION La sigla “ARPA” es un acrónimo que proviene de la expresión inglesa “Automatic Radar Plotting Aid” y que, como su traducción lo indica, consiste en una ayuda automática para efectuar el punteo radar. Mediante una computadora el sistema ARPA analiza la información recibida por el radar y otros elementos periféricos de todos los buques que estén dentro de su alcance, obteniendo resultados que luego son volcados a la pantalla en donde serán interpretados por el operador del sistema. Dichos resultados incluyen las características cinemáticas de los blancos, tales como su rumbo, velocidad, CPA y TCPA. El sistema también puede calcular posiciones futuras de un blanco ya sea para una maniobra del buque propio, o no. Pero como cualquier otro sistema tecnológico, el sistema ARPA también posee errores. Veremos que algunos de ellos son salvables, pero otros no. En este último grupo están comprendidos los errores inherentes al propio sistema, y que en líneas generales se producen cuando es el e l blanco o el buque propio el que está alterando sus parámetros de rumbo y/o velocidad. Si esto ocurre, la información suministrada por el ARPA no deberá ser tenida en cuenta, ya que se convierte en información poco menos que inútil. ¿Qué significa este último concepto? . Use la información que le brinda el sistema ARPA solamente si determina que ninguno está maniobrando. Si alguno está maniobrando, no use la información del ARPA para tomar una decisión porque es falsa! Para que Usted pueda usar la información del ARPA, deberá descartar que ni el blanco ni Usted estén maniobrando en ese momento. Si Si Usted es el operador del sistema, es obvio que va a poder saber si el buque propio está maniobrando o no. Será fácil descartar la maniobra del blanco si éste se encuentra a la vista, ya sea de día o de noche. El caso crítico críti co se produce cuando no se encuentre a la l a vista, por ejemplo dentro de una zona con visibilidad reducida.
1.2 RESOLUCIONES DE OMI Las resoluciones A.422(11) y A.823(19) de OMI establecen las normas de rendimiento que deberán cumplir los equipos, para que sean considerados como un sistema ARPA. Según dicha resolución, un sistema ARPA...”es aquel en el que el análisis del riesgo de colisión se realiza en forma automática y sin requerir punteo alguno por parte del operador” ¿Qué significa esto último?. Que el operador del sistema no tiene que estar pe ndiente de lo que está haciendo el blanco. El que deberá hacerlo es el sistema ARPA. El sistema debe detectar el movimiento del blanco sobre la pantalla y darse cuenta si el mismo está alterando el rumbo y/o la velocidad. Usted no debe tomar ni la demora ni la distancia del
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1.3 CERTIFICACIONES CERTIFICACIONES Si el buque cuenta con un sistema ARPA instalado a bordo, el capitán y todos los oficiales a cargo de la guardia de navegación deberán poseer un certificado de opera dor de sistemas ARPA.
1.4 BUQUES OBLIGADOS A TENER ARPA Según la Regla 19 del Capítulo V del convenio c onvenio SOLAS (Safety of Life at Sea) los buques obligados a tener un sistema ARPA instalado a bordo, son todos aquellos con un arqueo bruto igual o superior a 10.000 t
1.5 PERIFERICOS CONECTADOS CONECTADOS AL SISTEMA ARPA Cuando nos referimos al ARPA, nos referimos realmente al “sistema” ARPA. Recordemos que un sistema es un conjunto de partes que interactúan entre si, hacia la búsqueda de un un fin común. Imaginemos Imaginemos por un instante el sistema respiratorio: las partes que interactúan entre si serian los pulmones, bronquios, alveolos, vías aéreas superiores, etc. El fin común que persigue este sistema es la oxigenación del organismo. En el caso del sistema ARPA, las partes interactuantes (a los que de ahora en adelante nos referiremos como “periféricos”) son los siguientes:
RADAR Girocompás Corredera GPS
Fig. 1.2 elementos periféricos que conforman conforman el sistema ARPA El fin común que se persigue es el mantenimiento de la seguridad de la navegación, de modo que si el sistema resulta correctamente utilizado, le dará al navegante una valiosa herramienta para la resolución de diferentes problemas, ahorrándole con ello esfuerzo y
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No ocurre lo mismo con la l a corredera cor redera o el GPS. El sistema tiene capacidad capacida d de funcionar aun en ausencia de ambos, pero dicho funcionamiento se realizaría con ciertas limitaciones que veremos más adelante
1.6 INFORMACION VECTORIAL
Fig.1.3
Cuando el ARPA resuelve el triángulo de velocidades OWA para un blanco cualquiera (fig.1.3), podrá presentar en forma gráfica sobre la pantalla algunas componentes de dicho triángulo. La forma gráfica en que presenta esta información, es a través de vectores. El ARPA puede suministrar dos clases de vectores : relativos y verdaderos. Cuando se solicitan vectores relativos, relati vos, el ARPA presentará sobre la imagen del blanco el lado OA del triángulo. (Fig 1.4). Fig.1.4: Pantalla Fig.1.4: Pantalla que muestra vectores relativos. Se muestra sobre el blanco solamente el lado OA del triángulo de velocidades. Sobre el buque propio no se
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Si en cambio solicitamos vectores verdaderos, presentará sobre el blanco el lado WA del triángulo, y sobre el buque propio, el lado WO. (Fig.1.5)
Fig.1.5: Pantalla Fig.1.5: Pantalla que muestra vectores verdaderos. Se muestra sobre el blanco el lado WA del triángulo de velocidades. Sobre el buque propio se muestra el lado WO de dicho triángulo.
1.7 VECTORES CRONOAJUSTABL C RONOAJUSTABLES ES Los vectores tienen un origen y un extremo. El origen es donde el radar detecta al blanco y donde donde se localiza el eco. El extremo es la punta del vector. Las normas de OMI para los ARPA establecen que los vectores deben ser cronoajustables, es decir, ajustables a un tiempo t iempo dado. Esta opción está disponible al operador del sistema, mediante la función “Vector Time”, o “ Vector Length” o similares. Por ejemplo, si nuestro buque navega a 20 nudos, y seleccionamos un largo de vectores de 15 minutos, en la pantalla se dibujará un vector de 5 millas de largo, expresando la distancia que recorreremos en esos 15 minutos a la presente velocidad de 20 nudos. Lo mismo ocurre con los vectores de los blancos. Si en la figura 1.5, el largo de vectores es de 10 minutos, significa qie 1) El buque propio está ahora en el centro de barrido y dentro de 10 minutos estará en la punta del vector propio 2) El blanco está ahora donde aparece el e l eco radar y dentro de 10 minutos estará en
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1.8.1. Análisis con vectores relativos
RELATIVE VECTORS
RELATIVE VECTORS
VECTOR TIME = 6 min
VECTOR TIME= 30min
Fig.1.6: análisis del riesgo de abordaje abordaje utilizando vectores relativos Recordando que el buque propio no tiene vector relativo, la figura 1.6 muestra la situación cinemática entre su buque y un blanco. Los vectores son vectores relativos y el margen de seguridad, que se muestra en color rojo , es de 2 millas náuticas. La figura de la izquierda muestra un largo de vectores de 6 minutos y no se puede apreciar si el vector del blanco invadirá el margen de seguridad. En la figura de la derecha se operó con la función “Vector Time” y muestra un largo larg o de vectores de 30 minutos. Se aprecia que no existe un largo de vectores que muestre un margen de seguridad violado y se concluye que no existe riesgo de abordaje con este blanco. En cambio, la figura 1.7 muestra un riesgo de abordaje en menos de 24 minutos
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1.8.1. Análisis con vectores verdaderos
TRUE VECTORS
TRUE VECTORS
VECTOR TIME = 6 min
VECTOR TIME= 12min
Fig.1.8: evaluación del riesgo de abordaje con vectores verdaderos Con vectores verdaderos, el buque propio ahora tiene su propio vector, la figura 1.8 muestra la situación cinemática entre su buque y un blanco. Los vectores son vectores verdaderos. La figura de la izquierda muestra un largo de vectores de 6 minutos. La manera de interpretar esta información es que dentro de 6 minutos cada buque estará en la punta de su vector y todavía no se cruzaron. Tampoco se puede apreciar si ambos estarán en algún momento a distancia peligrosa. En la figura de la derecha se operó con la función “Vector Time” y se muestra un largo de vectores de 12 minutos. Se aprecia que no existe un largo de vectores que muestre a ambos buques en el mismo lugar o muy cerca uno del otro. Se concluye que no existe riesgo de abordaje con este blanco. En cambio, la figura 1.9 muestra un riesgo de abordaje en menos de 24 minutos. Se pudo encontrar un largo de de vectores en donde las puntas de los vectores vectores verdaderos “se tocan” lo que indica que en e n ese tiempo los dos buques están en el mismo lugar a la misma hora.
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2
DESCRIPCIÓN DESCRIPCIÓN DE UN SISTEMA ARPA 2.1 DIAGRAMA DE BLOQUES Fig.2.1
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de construir el triángulo de velocidades, calcula las característica s cinemáticas del blanco: rumbo, velocidad, CPA y TCPA. El operador debe comparar el CPA obtenido con el mar gen de seguridad (MS) fijado por el capitán, y luego de determinar que debe ceder el paso al otro buque, deberá modificar el triángulo de velocidades para obtener la maniobra de evasión, la cual podrá consistir en un cambio de de rumbo, velocidad velocidad o una maniobra combinada. Como se aprecia, sin un ARPA el rol del operador sobre la pantalla del radar es totalmente activo: todo debe ser resuelto enteramente por él. La figura 2.2 muestra cómo se simplifica el rol del operador, cuando está operando un sistema ARPA. Fig.2.2
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Como previamente el operador ya ya introdujo los márgenes de seguridad, el sistema va a interpretar como peligrosos a aquellos blancos que los violen, activándose la alarma de peligro; y como seguros seguros a los que no los violen. “Presentación de los resultados” La presentación de los resultados se realiza sobre la pantalla, en forma alfanumérica.1 En forma gráfica mediante un símbolo sobre cada blanco, en donde dicho símbolo expresa si el blanco es seguro o peligroso, y mediante resultados numéricos en algún otro lugar de la pantalla dedicada para tal fin.
Rol del operador “Decisión de la necesidad de acción” Recuerde que a veces el sistema puede estar suministrando información falsa. Un blanco puede ser seguro, pero debido a la maniobra del buque propio o del blanco, la información se torna falsa y la alarma de peligro puede activarse erróneamente. En esta etapa el rol del operador es vital para filtrar lainformación falsa y así evitar caer en una continua cadena de errores que puede llevar a la pérdida del buque. “Elección de la maniobra” Una vez determinado que el ARPA está entregando información veraz y que el buque propio está a rumbo de colisión, el operador le podrá pedir al sistema que calcule una maniobra de evasión efectiva. Dependiendo del modelo, el sistema le podrá pedir al operador hacia qué banda debe hacer el cálculo, dentro de cuánto tiempo se hará la maniobra y el CPA final del mismo. Así por ejemplo el operador le dice: “quiero maniobrar dentro de 5 minutos hacia la banda de estribor, de modo que ahora el blanco pase a 2 millas de CPA”. El sistema responde: ”dentro de 5 minutos caer a estribor al rumbo 150°. El
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ESCUELA ESCUELA NACIONAL DE NAUTICA “MANUEL BELGRANO” - FUNDADA EN 1799
2.2 MEDIDA DE LA DISTANCIA Según la resolución A.422 de OMI, el sistema tiene que poder hacer el seguimiento de un blanco blanco en forma automátic automática. a. Eso quiere quiere decir, entre entre otras cosas, cosas, que el sistema tiene tiene que tener capacidad para medir la demora y la distancia a cualquier blanco, sin requerir en absoluto de su asistencia. Para poder comprender la forma en e n que el sistema mide la distancia a los blancos, es necesario comprender lo que en electrónica e lectrónica se conoce con el nombre de una compuerta AND. Un esquema de la misma aparece en la figura 2.3. En dicha figura, se puede apreciar que la compuerta consta de dos interruptores A y B y de un testigo C. La única posibilidad para que se encienda la lamparita de la figura, es que se cierren los interruptores A y B. Dicho de otro modo, la única posibilidad de que exista tensión en C, es que también la haya en A y en B. Fi 2.3 Com Com uert uerta a AND AND Una compuerta AND del sistema ARPA trabaja con la base de tiempo del radar conectada al interruptor A. Si en algún momento el radar recibe la señal proveniente de un eco, entonces habrá tensión en dicho interruptor. En el B se conecta un reloj digital que provee impulsos eléctricos de manera regular. Ahora bien, de acuerdo con lo visto anteriormente, se generará una tensión en C, solamente cuando la haya simultáneamente en A y en B.
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Cuando el radar emite un pulso (t = 0), el reloj digital de la compuerta AND comienza a trabajar, generando tensión en el extremo B de la compuerta. Cuando el reloj emite su primer pulso, genera tensión en B, pero al no haberla en A, el voltaje en C es cero y por lo tanto no se registra nada. Lo mismo ocurre con los 7 pulsos siguientes. Pero cuando el reloj emite el octavo pulso (t = 9.9 s) se genera tensión en B y también en A porque el radar recibe el eco de un blanco. Por lo tanto en C hay voltaje. Un fenómeno similar similar ocurre con el pulso 13 y el 20. (valores de t = 15.5 s y t = 23.8 s) La forma en que calcula la distancia es por medio de una sencilla regla de tres: 30 pulsos..........3 pulsos..........3 millas 8 pulsos..........x pulsos..........x x= 0.8 millas Obsérvese que si este eco en lugar de hallarse a 0.8 millas, estuviera a 0.85 millas de distancia, el sistema no tendría capacidad de medir la distancia al blanco, debido a que nunca nunca se produciría simultáneamente la tensión requerida en ambos interruptores. Para evitar este inconveniente, la OMI establece que el sistema debe tener capacidad de medir distancias con una precisión de 0.01 millas. Y se logra con un reloj digital que tenga una FRP adecuada. 0.01 millas = 0.1236 s 0.1236 s ......... 1 pulso 1.000.000 ms ......... x
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Fig.2.5: codificador de demora
n
2n
P=360°/ P=360° /2n
1 2
2 4
180 90
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requerimientos, el sistema utiliza lo que se denominan “compuertas de bú squeda” y cuyo significado se pasa a explicar a continuación.
10 20
+y
+x
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ESCUELA ESCUELA NACIONAL DE NAUTICA “MANUEL BELGRANO” - FUNDADA EN 1799
Movimiento
x
y
De 0 a 1 De 1 a 2
+20 -10 +10 -8 Fig.2.8: información histórica del blanco, al completarse la vuelta de antena 2 Pero el seguimiento debe continuar. Ubicado el blanco en el punto 2, ahora el sistema debe predecir en dónde podrá encontrarse el blanco en la siguiente vuelta de antena. Y esto lo hará en base a la información que tiene hasta ese momento del blanco, mostrada en la figura 2.8. A partir del punto 2 de la figura, el sistema tiene que aplicar un x y un y y obtener de ese modo un nuevo punto de predicción. Vea la figura 2.8. Las variaciones x fueron +20y +10, asi que el sistema ARPA se queda con el promedio +15. Lo mismo hace para con las variaciones y, que fueron – fueron – 10 10 y – y – 8, 8, quedándose con el promedio – promedio – 9. 9. Así que aplicando éstos valores a partir del punto 2, se obtiene el punto B de la figura, que es la nueva posición de predicción del blanco. Allí irá a buscarlo el sistema en la siguiente vuelta de antena, para no perderlo. En el caso de no encontrarse el blanco en dicho punto, el sistema prevé abrir una
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El método de utilizar compuertas de búsqueda es útil al sistema porque: a) Cuida los recursos del sistema, haciendo que éste busque el blanco solamente e torno a ciertas áreas y no en toda la pantalla b) Sirve para identificar el blanco con un nombre c) Sirve para seguir un blanco a pesar de que éste efectue cambios de rumbo y/o velocidad Puede ocurrir el caso que en determinadas vueltas de antena, el sistema no pueda localizar al blanco dentro de la compuerta, debido a que ni siquiera el radar lo ve, por ejemplo cuando un blanco queda tapado por el estado del mar. En ese caso, el sistema continuará con la predicción, pero en la siguiente vuelta de antena, hará la búsqueda utilizando una compuerta de mayor tamaño. Si en compuerta grande tampoco resulta posible localizarlo, se inicia un proceso que puede culminar con la pérdida del blanco por por parte del sistema, tema que será tratado oportunamente en el capítulo “Alarmas del sistema ARPA”
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20
ESCUELA ESCUELA NACIONAL DE NAUTICA “MANUEL BELGRANO” - FUNDADA EN 1799
2.5 POSICIONES PROCESADAS POR EL SISTEMA ARPA Hasta ahora hemos visto que el sistema ARPA procesa dos clases de posiciones: las posiciones reales del blanco, y las l as posiciones de predicción. ¿Con cuál de estas dos el el sistema hace los cálculos cinemáticos del blanco?. Con ninguna de ellas. El sistema hace los cálculos con los valores X e Y correspondientes al punto medio de la línea que une ambas posiciones, denominándose el punto intermedio “posición ponderada” 1 tal cual se aprecia en la figura 2.11
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Fig.2.12: la figura superior muestra el caso en que primero se marca un sector de la popa y luego uno más más a proa: para el ARPA esta buque se mueve mucho más rápido. La figura central muestra el caso inverso. Primero se marca un sector de la proa y luego uno más a popa. La figura inferior
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ESCUELA ESCUELA NACIONAL DE NAUTICA “MANUEL BELGRANO” - FUNDADA EN 1799
2.7 METODO DE ANALISIS ANALISIS REGRESIVO Un operador resuelve el problema de la cinemática punteando varias posiciones del eco y construyendo el triángulo de velocidades conjuntamente con el vector del buque propio. Se obtiene el rumbo relativo (OA), el rumbo y la velocidad del blanco (WA), su CPA y TCPA. Dependiendo si el operador utilice o no la modalidad de punteo abreviado, esta operación le podrá demandar 2, 3 ó 6 minutos. El ARPA obtiene posiciones del blanco a cada vuelta de antena, esto es, en promedio
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Como el seguimiento debe continuar, en la siguiente vuelta de antena el siste ma vuelve a marcar al blanco en otra posición y respecto de la última, úl tima, le calcula el rumbo en el último tramo. (Fig.2.14) Como las posiciones de memoria son limitadas, y para que este nuevo valor pueda ingresar a la memoria, se anula al más antiguo, y se hace el promedio con estos nuevos valores. El operador ve en la pantalla el nuevo valor 120.9 n 1 2 3
Rv 120 122 124
n 16 17 18
Rv 123
Fig.2.14
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ESCUELA ESCUELA NACIONAL DE NAUTICA “MANUEL BELGRANO” - FUNDADA EN 1799
Se puede apreciar inmediatamente la ventaja del uso del método de análisis regresivo: mientras los rumbos parciales varían en un amplio margen (114 a 128°), el operador ve un vector sumamente estable que varia apenas unas décimas de grado.
2.8 ERROR DEL METODO DE ANÁLISIS REGRESIVO En el ejemplo anterior hemos supuesto que el blanco no estaba efectuando ninguna maniobra. Pero si el mismo decide efectuarla, toda maniobra que realice va a quedar enmascarada por el método de análisis regresivo, ya que dicho método entrega el promedio de los últimos 15 valores. valores. El vector es reacio a mostrar cambios
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2.9 POSICIONES PASADAS – HISTORY HISTORY Mientras que los vectores muestran el promedio de los últimos valores, no ocurre lo mismo con las posiciones pasadas. Estas muestran las posiciones ponderadas concretas de cada blanco en un determinado instante en el pasado. Por este motivo es posible contrastar la información del vector con la de las posiciones pasadas, para saber si el vector es fiable o no. Por normas de rendimiento las posiciones pasadas tienen que reunir las siguientes características: a) tienen que ser 4 como mínimo
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ESCUELA ESCUELA NACIONAL DE NAUTICA “MANUEL BELGRANO” - FUNDADA EN 1799
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ESCUELA ESCUELA NACIONAL DE NAUTICA “MANUEL BELGRANO” - FUNDADA EN 1799
Por ejemplo supongamos que el operador desea saber con 20 minutos de antelación si
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ESCUELA NACIONAL DE NAUTICA “MANUEL BELGRANO” - FUNDADA EN 1799
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ESCUELA ESCUELA NACIONAL DE NAUTICA “MANUEL BELGRANO” - FUNDADA EN 1799
Pero esta alarma también se puede activar no habiendo fallas en ninguno de los periféricos,
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31
alarmas relativas a los blancos que se encuentran en situación de riesgo de abordaje. Al
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-7-
3.8
A 19/Res.823
Accuracy
3.8.1 The ARPA should provide provide accuracies accuracies not less than those given given in 3.8.2 3.8.2 and 3.8.3 for the the four scenarios defined define d in append appendix ix 2. With the sensor errors specified in appendix 3, the values given relate to the best best possib possible le manua manuall plotti plotting ng perfor performan mance ce under under envi environ ronmen mental tal cond conditi itions ons of of ± 10 degrees degrees of roll. roll. 3.8.2 3.8 .2 An ARPA should present within one minute of steady state sta te tracking the relative motion trend of a target with the following accuracy values (95% probability values). Data Relative course (degrees)
Relative speed (knots)
CPA (nautical miles)
1
11
2.8
1.6
2
7
0.6
3
14
2.2
1.8
4
15
1.5
2.0
Scenario
Note 1:
In steady steady state state trackin tracking g both own own and targe targett ship follow follow strai straight ght line line course course at constant speed.
Note 2:
Probabilit Probability y values values are the same same as confiden confidence ce levels. levels.
3.8.3 An ARPA ARPA should should present within three minutes minutes of steady state state tracking tracking the motion of a target with with the following accuracy values (95% probability values). Data
Relative course (degrees)
Relative speed (knots)
CPA (nautical miles)
1
3.0
0.8
0.5
2
2.3
0.3
3
4.4
0.9
0.7
4
4.6
0.8
0.7 0. 7
Scenario
TCPA (min)
True course (degrees)
True speed (knots)
1.0
7.4
1.2
2.8
0.8
1.0
3.3
1.0
1.0
2.6
1.2 1 .2
3.8.4 3.8 .4 When a tracked target, or own ship, has completed a manoeuvre, manoeuvre, the system should present in a period of not more than 1 min an indication of the target's motion trend, and display within 3 min the target's predicted motion, in accordance with 3.4.6, 3.6, 3.8.2 and 3.8.3. In this context, a "manoeuvre of own ship" should be
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A 19/Res.823
-8-
3.8.5 3.8 .5 The ARPA should be designed in such a manner that under the most favourable conditions of own ship's motion the error contribution from the ARPA should remain insignificant compared to the errors associated with the input sensors, for the scenarios of appendix 2. 3.9
Connections with other equipment
3.9.1 3.9 .1 The ARPA should not degrade the performance of any equipment providing sensor inputs, and the connection of the ARPA to any other equipment should not degrade the performance of that equipment. This requirement requirem ent should be met m et whether the t he ARPA is operating oper ating or not. Additionally, Additionally, the ARPA ARPA should should be designed designed to comply with this requirement under fault conditions as far as is practicable. 3.9.2 3.9 .2 The ARPA should provide an indication when any input from an external sensor is absent. The ARPA should also repeat any alarm or status messages concerning the quality of the input data from its external sensors which may influence its operation. 3.10 3.1 0
Performance tests and warnings
The ARPA should provide suitable warnings of ARPA mulfunction to enable the observer to monitor the proper operation of the system. Additionally, test programmes should be available so that the overall performanc performancee of ARPA can be assessed periodical periodically ly against against a known solution. solution. When a test programme programme is * being being executed, executed, the the relevant relevant test test symbol symbolss should be displayed. 3.11 3. 11
Sea and ground stabilization
3.11.1 3.11. 1 The ARPA should be capable of sea and ground stabilization. 3.11.2 3.11. 2 Log and speed indicators providing inputs inputs to ARPA equipment should be capable capable of providing the ship's speed through the water in the fore and aft direction. 3.11.3 3.11. 3 The ground stabilized input input may be be provided from the log, from an electronic position-fixing system, system, if the speed measurement accuracy is in accordance with the requirements of resolution A.824(19), or from tracked stationary targets. 3.11.4 3.11. 4 The type type of input input and stabilization stabilization in use should be displayed. displayed.
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-9-
A 19/Res.823
APPENDIX 1 DEFINITIONS OF TERMS TO BE USED IN CONNECTION WITH ARPA PERFORMANCE STANDARDS
1.
Target means means any object fixed or moving whose position and motion is determined by measurements of range and bearing on radar.
2.
Relative Relativ e course cour se means means the direction of motion of a target relative to own ship's position expressed as an angular displacement displacement from north. It is deduced from a number of measurements of target range range and bearing on own ship's radar.
3.
Relative Relativ e speed means means the speed of a target relative relative to own ship's position. position. It is deduced from a number of measurements of target range and bearing on own ship's radar.
4.
Relative motion means the combination of relative course and relative speed.
5.
True course means course means the true direction of motion of a target expressed as an angular displacement from * north. It is obtained by a vector combination of target relative motion motion and own ship's true motion.
6.
True speed means means the speed of a target obtained by a vector combination of target relative motion * and own ship's true motion.
7.
True motion means motion means the combination of true course and true speed.
8.
True bearing means means the direction of a target from own ship or from another target expressed as an angular displacement from north.
9.
Relative Relativ e bearing means means the direction of a target from fr om own ship expressed as an angular displacement displa cement from own ship's heading.
10.
True motion display means display means a display across which own ship and each target moves with its own true motion.
11.
Relative motion display motion display means a display on which the position of own ship remains fixed and all targets move relative to own ship.
12.
Azimuth stabilized st abilized display dis play means means a display in which the azimuth orientation relative to a nominated true bearing is fixed.
13.
North-up North-u p display dis play means means an azimuth stabilized display in which a line connecting the centre with the top of the display is north true bearing.
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A 19/Res.823
14. 15.
- 10 -
Course-up display means display means an azimuth stabilized display in which a line connecting the centre with the top of the display is own ship's intended course. Heading Head ing means the direction in which the bows of a ship are pointing expressed as an angular displacement from north.
16.
Target's predicted motion means motion means a prediction of future target motion based on linear extrapolation from its present motion as determined by past measurements of its range and bearing on the radar.
17.
Relative vector means means the predicted movement of a target relative to own ship.
18.
True vector means means the predicted true motion of a target as a result of own ship's direction and speed input. The true vector may be either displayed displayed with reference to the water water or to the ground.
19.
Acquisition Acquisitio n means the process of selecting a target or targets and initiating their tracking.
20.
Tracking means means the computer process of observing the sequential changes in the position of a target in order to establish its motion.
21.
Target swop swop means a situation in which the incoming radar data for a tracked target becomes incorrectly associated with another another tracked target or a non-tracked radar echo.
22.
Acquisition Acquis ition area a rea means means an area set up by the observer which should automatically automatically acquire a target when it enters such an area.
23.
History means History means equally time-spaced time-sp aced past position of a target which is being tracked. The history may be relative relative or true. true.
24.
Trails means Trails means tracks displayed by the radar echoes of targets in the form of a synthetic afterglow. The trails may be either relative relative or true. The true trails may be sea or ground stabilized. stabilized.
25.
Echo re ference fere nce means means a facility for indicating that a particular fixed navigational mark which is being tracked is to be used as a ground stabilized reference.
26.
Trial manoeuvre manoeuvre means a facility to assist the observer in making the correct manoeuvre for navigation and collision avoidance purposes.
27.
Suppressed area means area means an area set up by the observer within which targets are not acquired.
28.
ERBL means ERBL means the electronic range and bearing line used to measure bearings and/or ranges.
29.
CPA/TCPA stands CPA/TCPA stands for closest point of approach (CPA) and time to closest point of approach (TCPA) limits from own ship as defined by the observer, to give warning of when a tracked target or targets will close to within these limits.
30.
Bow passing passi ng prediction predic tion is the situation associated with a target which is crossing or predicted to
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- 11 -
32. 33.
A 19/Res.823
Lost target is is the name associated with a target that is no longer being tracked due to having been lost or obscured. Sea stabilization is stabilization is a mode of display whereby own ship and all targets are referenced to the sea, using gyro heading and single axis log water speed inputs.
34.
Ground stabilization is stabilization is a mode of display whereby own ship and all targets are referenced to the ground, using ground track or set and drift inputs.
35.
Predicted Predic ted points of collision collisi on is a graphical representation of where predicted collision intercept points points lie with with respec respectt to own own ship and and other other targets. targets.
36.
PAD means PAD means the predicted area of danger defined around a predicted predicted close quarter situation area. The size is determined by speed ratios between own ship and the target in question and CPA distance limits as defined by the observer.
37.
Map lines l ines means means the navigational facility whereby the observer can define lines to indicate channels or Traffic Separation Schemes. Sometimes called Nav lines, these lines require ground stabilization to stop them drifting.
Note:
Where reference is made to target range, bearing, bearing, relative course, relative relative speed, closest point point of approach (CPA) or time to closest point of approach (TCPA), these measurements are made with respect to the radar antenna.
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A 19/Res.823
- 12 -
APPENDIX 2 OPERATIONAL SCENARIOS
For each of the following scenarios, predictions are made at the target position defined after previously tracking for the appropriate time of one or three minutes: Scenario 1
Own ship course Own ship speed Target Targe t range Bearing of target Relative course of target Relative speed of target
000 000? 10 knots 8 nautical miles 000 000? 180 180? 20 knots knots
Scenario 2
Own ship course Own ship speed Target Targe t range Bearing of target Relative course of target Relative speed of target
000 000? 10 knots 1 nautical nautical mile 000 000? 090 090? 10 knots knots
Scenario 3
Own ship course Own ship speed Target Targe t range Bearing of target Relative course of target Relative speed of target Scenario 4
000 000? 5 knots 8 nautical miles 045 045? 225 225? 20 knots knots
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- 13 -
A 19/Res.823
APPENDIX 3 SENSOR ERRORS
The accuracy figures quoted in 3.8 of these standards are based upon the following f ollowing sensor errors, and are appropriate to equipment complying with the performance standards for shipborne navigational equipment. Note : s means means "standard "standard deviatio deviation". n". Radar Target glint (scintillation) (for 200 m length target)
Along length of target s = 30 m (normal distribution) Across beam of target s = 1 m (normal distribution) Roll-pitch bearing : The bearing error will peak in each of the four quadrants around own ship ship for targets on relative bearings of 045?, 135?, 225? and 315?, and will be zero at relative bearings of 0 ?, 90?, 180? and 270?. This error has a sinusoidal variation at twice the roll frequency.
For a 10? roll the mean error is 0.22? with a 0.22? peak sine wave superimposed. Beam shape
- assumed normal distribution giving bearing error with s = 0.05?
Pulse shape
- assumed normal distribution giving range error with s = 20 m
Antenna backlash
- assumed rectangular distribution giving bearing error + 0.05? maximum
Quantization
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A 19/Res.823
- 14 -
Gyro-compass
Calibration error 0.5?. Normal Normal dist distrib ributi ution on about about this this with with s = 0.12 0.12?. Log
Calibration error 0.5 knots. Norma Normall dist distrib ributi ution on abo about ut this this,, 3s = 0.2 knots. knots.
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