Steering with Yokogawa Autopilot •
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• 387
Characteristics of automatic route steering
• steering is course controlled with set radius
• between waypoints, if wind, current etc. effects the ship, the system tries to prevent the ship from drifting away
from planned route. The system has three means to prevent drifting away from the planned route. They are
most effective when used together. If cross track error is used alone, then the own ship stabilises typically in a
constant off track position. The means are:
• measured cross track error from the center line, which is always active
• Drift compensation available from Route Parameters
• Gyro error compensation available from Route Parameters
• during turns, if wind, current etc. effects the ship, the ship will drift away (inside or outside) from planned
designed turn which is displayed on radar screen
Summary of Route Steering
GO TO WAYPOINT
Set course
Set radius
Radius control
Dynamic waypoint position
Design before execution
Full curved EBL on radar screen
Wind, current etc. compensation in linear parts between wp.
Wind, current etc. compensation in turns
automatic
automatic
yes
yes
yes
yes
low gain
no
Needs gyro
Needs log
Precision of position equipment
yes
yes
good
3
Preconditions for Route steering
Route steering requires that the position filter is used. See more in chapter Filter Operations. If you try to activate
any of the route steering modes without the filter, you get alarm "2470 Disabled: Needs filter on". If you loose the
filter position while you perform automatic route steering, you get alarm "2475 Route: Needs filter on",.
How to activate route steering
Route steering can be activated by pressing REMOTE pushbutton in the Yokogawa autopilot panel.
If REMOTE is activated, indication "Route: goto wp" appears
in Route Monitor window of ECDIS display.
If the ECDIS did not accept the requested route steering mode,
then there is an "Autopilot Conflict" indication in Route
Monitor window of the ECDIS Display
3
Precision of position is good with LORAN and GPS.
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