AUTOMATIC RADAR

PLOTTING AIDS
Duration of course - 5 days
Attendance required - 100 %

Course is in conducted in two parts

1. Theory

2. Stimulator.
•Any shortage in attendance shall be deemed as
incomplete course and issue of certificate denied.

•Assessment is held at the end of course,

pass marks for which are 70%

Day One………
• The information obtained from the radar is the range and
bearing.

•A radar observer can use this information to plot his own

position as well as position of other targets in his vicinity.

•Thus, using the radar, he can follow the movement of

targets, and ascertain whether they present a risk of
collision.
 •As the pressure on navigators has increased due to
increased traffic density, an automatic means of plotting
positions and ascertaining the risk of collision needs to be
provided. An ARPA (Automatic Radar Plotting Aid) fills
this need.

• ARPA is an automatic radar plotting aid. It derives the basic

information from a radar (range and bearing), course (gyro),
speed (speed log) and a timer, processes the information from
these inputs and provides the outputs which assists the
navigator.
 BASIC LAYOUT OF ARPA
INPUTS OUTPUTS

RADAR
(Range & Brg)

LOG TARGET’s
(Speed) True course
ARPA Speed
PROCESSOR CPA
GYRO
TCPA
(Course)
Range
Bearing
Internal Timer
(Time)
 TYPES OF ARPA

There are two basic types of ARPA.

 Stand Alone
Integrated

 STAND ALONE : Where an ARPA processor was later

added to an existing radar, mainly to upgrade the equipment
to requirement level, a STAND ALONE ARPA processor
was added to the radar. This type is characterised by digital
displays that indicate the ARPA data on a panel, which is
adjacent to a radar console. This type is generally not seen on
merchant ships because they were the first generation ARPAs,
which have now been superseded by integrated units.
INTEGRATED ARPA : Modern radar equipment
presently fitted on board is integrated, and hence
ARPA data is displayed alongside the radar picture in
an integral display. The display type is generally raster
scan.
RASTER SCAN DISPLAYS : A conventional radar
picture has a radar image generated by scan lines which
originate at the own position and go radially outward, on the
range scale.

• This type of picture suffers from poor contrast in high

ambient light levels. The picture is refreshed once every
scan, and the after-glow causes the radar image to slowly
fade off, making visibility in daylight difficult.

• To overcome this problem, a raster-scan display converts

the conventional radar picture into a series of still frames
which are projected from 30 to 60 times a second.
•This rapid projection, overcomes fading, by having the
picture refreshed at short time intervals.

•Using this display, the information stored about the

previous positions of the targets can be used to provide
ARPA processor input (range and bearing which is
converted into corresponding x-y co-ordinates for
projection onto a rectangular frame).

• Using this method, the stored position of the targets

can be used to generate relative and true vectors and
also trails.
The raster scan picture is composed of minute picture
elements (pixels) which are a row column matrix.

•The location of the target in ARPA memory is stored as

these co-ordinates.

•The x and y (column and row) co-ordinates of targets

position is stored in different registers (memory locations)
called prime registers.

• Depending on the vector length chosen to be displayed by

the radar observer, the ARPA processor displays the time
dependent information, using a built-in clock for time-
keeping.
 SEQUENCE OF PROCESSING
RADAR AND OTHER INPUTS BY ARPA

•Radar video signals bearing the target information

are led into a filter.

•This process removes un-predictables like clutter

and system noise.
•The radar observer selects the target that he needs the
ARPA to track. This is called acquisition.

•By acquisition, the ARPA memorizes the location of the

targets and follows its movement .

• It builds up the data of the target and displays it on an

integrated display, after an initial processing delay.
An internal built-in program tracks the movement of the
target and processes the information.

•A target can be ‘acquired’ for tracking either manually or

automatically.
• In manual acquisition, a cursor is placed over the
target, and clicked using a pointing device.
• This selects the target for tracking which opens a gate in
the memory.
• The gate is initially wide in the beginning because the
ARPA processor is not certain of the movement of the
target.
• As the ARPA gathers precise data of the movement of
the target, the tracking gate becomes narrow.
• The ARPA predicted positions now have more
accuracy.
• Auto Acquisition modes can be either by zones or
sectors of by areas.

• When an area is defined for automatic acquisition, the

targets that appear within this region are identified by
the order the priority, the targets that are closest being
given a lower number than those further.

• There is generally a limit on the number of targets that

can be stored in the ARPA memory. As targets fill up
the memory space, a ‘memory full’ alarm is activated.
 Types of Automatic Acquisition

Zonal Fully Automatic

Area
Sector
Guard Zones/Guard Rings
ARB’s
Acquisition by Zone : Targets can be auto-acquired
in a zone. This facility allows the radar observer to
exclude areas like land and wake of ship from being
acquired.

Acquisition by Area. Two lines called the Area

Rejection boundary can be set up on an area of radar
display. Targets appearing within this bounds will
automatically be acquired on entering this zone.
 OPERATIONAL WARNINGS AND ALARMS
The ARPA operational warnings and alarms warn the user of
certain dangers or occurrences. Some of these are specified in
the Performance Standards while several are not.
SPECIFIED ALARMS

There are four ARPA alarms specified in the Performance

Standards.
Operational Warnings :
1. The Guard Zone Alarm
2. The Danger Target Alarm
3. The Lost Target Alarm
 Performance Warnings :

4. The ARPA Malfunction Alarm

It should be possible to activate or de-activate

the operational alarms (first 3).
• On most ARPA equipment, the audible alarms can be
de-activated when required, to void disturbing bridge
personnel.

• The visual alarm, however, will continue to flash unless

acknowledged by the observer.
 The Guard Zone Alarm

o This alarm is activated on target’s entry inside a

guard zone or on target crossing a guard ring.

o The alarm should be visual and/or audible. The

target causing the warning is identified by a flashing
symbol.
The Danger Target Alarm

• This alarm is activated on violation of both CPA

and TCPA limits.

• The alarm should be visual and/or audible. The

target causing the alarm is identified on the display,
generally by a flashing vector.

• If a PAD is intersected by the own ship's heading

marker an alarm is activated and will continue till the
ship's course is altered to clear the PAD.
 The Lost Target Alarm

•If a target returns echo less than 5 times in 10 on secutive

scans will stop being tracked and will be considered to be
lost'. If a target is lost, other than out of range, the Lost
Target Alarm is set activated.

•Though the type of alarm signal is not specified, generally

both visual and audible alarms are provided. The lost
target's last tracked position should be clearly indicated
on the display and this may be done by a distinct flashing
symbol.

.
End of Day One.
Day Two …….
 The ARPA Malfunction Alarm
 Activated when the self-diagnostic test detects a fault
condition.

NON-SPECIFIED ALARMS
 As with the specified alarms, these alarms are generally
visual and audible.
 Again, it may be possible to de-activate only the audible
part of the alarm.
 Lost Fixed Point Alarm
 This is activated if the fixed target used to ground
reference the radar picture is lost.

 The last tracked position of the fixed target is indicated

on the display by a symbol.

 Target Overflow /Tracks Full Alarm

 If the tracking register is full and an additional target is

acquired manually (or automatically on some sets), the
Target Overflow Alarm is set off.
Target Man oeuvre/ Tracks Change Alarm
This alarm is sounded if the ARPA senses that a
target has altered course or speed.

Wrong Order Alarm

If the observer inputs a wrong order or command to
the ARPA, it sets off this alarm.

Sensor Input Failure Alarm

This alarm activates if the inputs from the gyro or log
are not received by the ARPA. Note that it does not
warn against inaccurate gyro or log inputs.
Anchor Watch Alarm

Activated on own ship dragging anchor. This facility is

set by acquiring one or more fixed objects. With the
fixed object moving indicating dragging anchor, the
alarm is activated. To allow for the own ship's anchor
turning circle, the allowance in the fixed objects
movement can be selected. This may be introduced
either directly or in the form of a turning circle drawn
around the electronic centre.
 Time to Manoeuvre Alarm
This alarm is activated after using the trial manoeuvre
facility. It suggests that it is time for the operator to
manoeuvre according to the trial advice. For example, three
minutes more to manoeuvre so that the trial safe course or
speed can be achieved.

Off-track Alarm
While using the mapping facility, this alarm warns the
operator if the vessel strays beyond the safe limit off the
mapped track marked on the display.
Trial Manoeuvre Alarm

In case a safe course cannot be found with the use of

the trial manoeuvre facility, this alarm is set off.
 Bad echo Alarm
is activated, on some sets, just before the Lost
Target Alarm.
 GROUND-STABILIZATION
 A current acting on the own-ship will adversely affect
the sea-stabilized radar-ARPA picture in the following cases.

 In the true motion mode fixed targets will move across

the radar PPI.

 During mapping, the video map will drift out of

alignment with the radar picture.

 Ground-stabilizing the radar picture can solve these

problems and is normally used when using the true motion
mode or when mapping.
Ground-stabilization of the radar picture is achieved by
inputting course and speed made good over ground. This
is done by calculating the set and rate of the current and
applying it to the own ship's course and speed through the
water.

 Ground-stabilization may be manual or carried out

automatically by ARPA. With the GPS interface becoming
more common, these parameters are generally obtained
automatically from the GPS.
 Manual Ground-Stabilization

 The operator can obtain the set and rate of current

either from GPS/Satnav or by radar plotting of a fixed
target. The fixed target’s movement at the same rate as
the current but in the opposite direction.. This data is
fed to the set/drift input converting the course / speed
over water of own ves vessel to that over ground.
 Automatic Ground-Stabilization using ARPA
Manual ground-stabilization of a radar display is
cumbersome and inaccurate and requires
frequent readjustment. With the ARPA available,
ground-stabilization is much simpler. ARPA is
used to track a fixed target, calculate the set and
rate of current and automatically ground-
stabilize the radar display. This is also called
'echo-referencing'.
 Procedure for Echo Referencing

1. Choose an isolated radar target that has been

positively identified as a ground-stationary fixed
object. If the target is not isolated, for example a
coastline, then the ARPA gate will wander.

• If the target has not been identified, the operator

may erroneously choose a moving vessel or one at
anchor that later starts moving. In either case,
stabilization will be highly inaccurate.
2. Acquire the fixed target.
3. Select the acquired target and designate it as the
fixed or echo referencing point by pressing the
appropriate button. The fixed point is now marked on
the PPI with a characteristic symbol. There is also a
positive indication that the set is in the ground-
stabilized mode. Ground-stabilization continues as
long as the reference point is being tracked by ARPA
even if shifts outside the range scale in use.
4. The 'Lost Fixed Point' alarm sounds if the reference
point is lost for some reason. In this case, the user
should ground-stabilize again choosing a better fixed
reference point.
5. To cancel ground-stabilization, switch off the ground
stabilize button and the picture reverts to the sea-
stabilized mode. Putting the set to stand-by will have a
similar effect as this temporarily switches off the
ARPA.
 Using Ground-Stabilization
 In the true motion mode, the electronic centre moves
in step with the own ship's movement over the ground
and there is no 'drift' of fixed targets. This is useful
when using parallel indexing techniques and during
maneouver
 through narrow or buoyed channels because own ship's
position with reference to fixed objects can be seen at a
glance. The ground-stabilized true motion mode is
required when using nav lines or video maps in coastal
navigation. In this mode, the lines or maps will not drift
with respect to the ground or coastline.
 Ground-stabilization is not needed in the relative
motion mode. If used, relative vectors will be
unaffected and the only effect will be on true
vectors which will indicate targets' and own ship's
ground tracks.
 Cautions in use of Ground stabilization
1. The main disadvantage of ground-stabilization is
that true vectors display the ground tracks of targets
(and own ship) and not their headings.
This is because the same inputs of course and speed
over ground are fed to the ARPA as well as to the radar.
This can lead to a potentially dangerous situation
because ROR is based on course steered while the
ground-stabilized data provides course made good.
 The user should watch out for target swop involving
the reference point. Another target approaching close
to it or shadowing it may be swopped for the original
reference point. This will have a considerable effect on
the true motion mode and on all true vectors. As well,
it may lead to disorientation of the observer until he
understands what has happened.
 MAINTAINING ARPA DISPLAYS AND
OBTAINING ARPA INFORMATION

 After setting up the ARPA, the user will want to

effectively maintain the ARPA display and obtain
information from the ARPA.
 The following are among the important points to
remember in this regard.
 In the manual acquisition mode, continue acquiring
recently appeared targets. Cancel tracked targets that are
non-dangerous or well past and clear to free memory
space for more targets to be acquired.
 In the auto-acquire mode, the user must check from
time to time that auto-acquisition is functioning
correctly. He may also have to adjust the auto-acquire
areas or the exclusion zones as circumstances change.
 Carry out ARPA performance tests on switching on the
equipment and occasionally thereafter as long as the
ARPA is in use. These tests include the self diagnostic
test, the manual diagnostic test and manual tests.
 Watch out for danger targets and select them for
alphanumeric data display. There are four ways to
monitor a target and check if it is a danger target.
 - The danger target alarm
 - Extend relative vectors (to monitor CPA &
TCPA)
 - Extend true vectors (check if ends of targets' and
own-ship vectors meet)
 - Alphanumerics (which give data of a limited number
of targets at a time)
 For a danger target,
 - true vectors to decide which is the give-way vessel
 - use past positions if the target is the give-way
vessel, to determine if and when it maneuvers
 use the trial maneuvers facility if the own-ship is the
give-way vessel, to help take avoiding action
 - Switch.from relative vectors to true vectors
occasionally to understand targets' headings. If PADs
are in use, occasionally switch to the vector mode.
 In case of the following operational warnings take steps
as stated.
 Lost Target Alarm : Identify the lost target and
investigate the reason it was lost; this may include
possibilities like target swop and fading. Re-acquire the
target if necessary.
 Lost Fixed Point : Investigate the reason it was lost.
Ground reference again, preferably on a better fixed
target.
 Target Manoeuvre Alarm : Locate the target and
monitor it to see if the manoeuvre affects own-ship.
DAY THREE
 In case of ARPA malfunction
If the malfunction alarm goes off or if the ARPA data is
found to be incorrect, the user should switch off the ARPA
and only monitor the raw radar display. He can use the
reflection plotter or the floating EBL for determining if a
target is a danger target. Manual plotting can be done on the
reflection plotter or on a plotting sheet.

ARPA ERRORS IN DISPLAYED DATA

Errors of the ARPA may be broadly grouped under two

main headings.
1. Errors in Displayed Data (Equipment Errors)
2. Errors of Interpretation (Human Errors)
 ERRORS IN DISPLAYED DATA
These are errors due to the equipment and may be
divided into :

a) Errors due to radar

b) Errors due to inputs (gyro and log)
c) Errors due to ARPA processing
 a. Errors due to radar

 Target Glint or Scintillation

The ARPA selects the centre of the echo as the position
of a tracked target. It is possible that the centre of the
echo shifts as the echo is sent back by
different parts of the ship when the target rolls, pitches
and yaws or when she alters course. This shift is called
target glint or scintillation and is interpreted by the
ARPA as a movement of the ship creating slight
inaccuracies in ARPA data for that target.
 Errors in bearing
 Errors in bearing due to the radar result in target
positions painted incorrectly on either side of its
correct relative track. This leads to errors in
ARPA data, notably in CPA and true course of
target. Error in the target's true course is
greatest when the target is on a reciprocal course
and end-on or nearly end-on.
 Some of the causes of bearing errors due to
radar are described in the next slide :.
i) Backlash in Gearing.
The antenna drives an azimuth transmitter that
transmits the direction of the radar beam (antenna
direction) to the display unit.
The transmission drive between the antenna and
transmitter is by means of gears. Normally there is
continuous gear tooth contact.
Sometimes aerodynamic forces may cause breaks in this
contact causing backlash between the antenna and the
azimuth transmitter giving rise to an error in bearing.
Modern transmissions have reduced this problem.
ii) Own ship’s motion causes antenna tilt and rolling
parallax.
Own ship's motion tilts the axis of rotation of the radar
antenna causing a bearing error.
This error is zero when the target is ahead, astern and
abeam and is maximum when the target is 45° on the bow
and astern. For example, a target at a relative bearing of 45°
and own ship's roll of 7.5° would have a maximum bearing
error of -0.25°.
Own ship's rolling also shifts the radar antenna transversely
off the own ship's fore and aft line causing a bearing error
due to parallax. This error varies directly as the height of
the antenna and the angle of roll and inversely as the range
of the target.

iii) Asymmetrical antenna beam

The ARPA normally takes the bearing of the target as that
of the centre of the echo. In case the antenna beam is
asymmetrical about the line perpendicular to the antenna,
the apparent position of the target may shift depending on
the echo strength, creating errors in bearing.
iv) Azimuth Quantization Error
The bearing data of the target (antenna direction signal
from the azimuth transmitter) must be converted from
analogue to digital form before it is input to the ARPA
computer. This process of conversion, called
quantization, may introduce a small error called azimuth
quantization error.
Errors in Range
Errors in range due to radar cause the target's relative
track to be incorrect creating errors in displayed data,
notably in TCPA.
Errors in range may be due to the following causes.

i) Own ship's motion

When the own ship rolls, the antenna is shifted
transversely away from the fore and aft line. This moves
the antenna towards or away from the target resulting in a
displayed range that is slightly in excess of or less than the
correct range. Pitch error is much less significant.
ii) Range Quantization Error
The quantization of the target's range data from an
analogue to a digital signal may give rise to a small
range quantization error.
Errors due to inputs of course and speed
Errors due to wrong inputs of course and/or speed
affects all targets displayed true course and speed (true
vectors) but will not affect their displayed relative track
(relative vectors).
The only exception to this is if the ARPA smoothes and
stores true tracks (and there is a fluctuating input; in most
instances due to the log.
In this case, the relative vectors will be in error till the
input stabilizes for a full smoothing period. As long as the
input error is fixed and not fluctuating, the relative vectors
are still correct.
It is important to note that sensor input alarms only
operate on failure of input. They do not warn against
inaccurate input.
i) Errors due to the gyro include the following.
- Fixed gyro error.
- Random gyro errors due to the ship's roll, pitch and
yaw.
- Misalignment between the master gyro and the input
to the ARPA.
ii) Errors due to the log include the following.
- Calibrated fixed log error
- Misalignment between the log and the input to the
ARPA
- Fluctuations in log input due to various causes, e.g.
bad weather

iii) Errors due to a wrong manual speed input.

The speed input to the ARPA should be the correct
ship's speed through the water. This is so as to combine
it with the gyro input, i.e., the course through the water.
If the observer feeds in any other speed it will create
errors.
 Errors due to ARPA Processing
These are errors due to the ARPA
 Target swop : Target swop occurs on a weak acquired
target moving close to a large target when the acquired
targets vectors shift over the conspicuous target,
indicating an error of displayed data.
 Lost target : Changing over from a longer radar range
scale to a shorter one reduces the radar pulse length.
This may result in a weak echo being filtered out
completely. The ARPA will then be unable to track the
target and will activate the lost target alarm.
 Own ship's maneuver
In general, the relative and true data provided by the
ARPA is correct when the own ship and the target ship
maintain their course and speed for the full smoothing
period. A maneuver by the own ship produces
temporarily unreliable ARPA data during and shortly
after the maneuver.
Own ship's maneuver will alter the relative tracks of all
targets. Though the smoothing period reduces, the
smoothing filter will combine the original track and the
new track of each target.
 This results in a mean track that will represent neither
the old track nor the new track but will lie somewhere
in between. After the own ship has steadied on the new
course or speed, a full smoothing period has to elapse
before the relative vector represents the correct data.
 All targets' true data (true vectors) will also be similarly
affected due to the varying input of own ship's course
and/or speed. In case of a tracker storing true data,
the target's true track is more reliable as it is
independent of the own ship's course and speed.
 Also note that, during a maneuver, the own ship's
movement may not be exactly the same as that fed in by
the gyro and log.
 Target's maneouvre
 A target's maneuver leads to unreliable data for that
target only. This is in contrast to a maneuver by the
own ship where all targets' data are affected.
 After the target's maneuver is completed, ARPA data
for this target is accurate only after a full smoothing
period has passed.
Summary :
 Errors of ARPA :

 Errors of ARPA are divided into two categories

 Errors in displayed data

 Errors of interpretation (Human Error)

 1. Error in displayed data is divided into three types
 Due to radar
 Due to input
 Due to ARPA processing
 Due to radar
 Glint or scintillation
 Error in bearing
 Backlash
 Antenna tilt / Rolling
 Asymmetrical antenna beam
 Azimuth quantization
 Error in range :
 Own ship’s motion
 Range quantization
 Due to inputs of course and speed
 Due to ARPA processing
 Target swap
 Lost Target
 Own Ship’s Maneouver
 Target Maneouver
 Errors in interpretation
 Failure to detect or acquire a target
 Incorrect use of vectors
 Confusion - trial mode or actual
 Error in use of past position
 Error in use of trials
 Re-acquired lost target
 Over-reliance on ARPA data
 Over-reliance Auto-acquisition
 False reliance on sensor input alarm.
 Definitions:
 Acquisition : Acquisition is a process by which a radar
observer tags the target which he needs to track.
Acquiring a target is done by placing an acquire window
over the desired target and clicking. An acquire
window is opened in the display memory, and after a
certain processing delay, the ARPA displays the
required data.
 Target Swap : When a large target moves within the
tracking gate of a weak acquired , the vector of the
weak target sometimes shifts over to the strong target,
indicating misleading data of the target. This is called
Target swap.
 Tracking gate : The tracking gate is an area of the ARPA
memory where it expects the target to be. On initially acquiring
a target, the tracking gate is wide because of uncertainity of
motion of target. As the ARPA becomes more certain of the
motion trend of the target, the tracking gate narrows down, at
which stage the displayed information is most accurate.

 Rate aiding : Rate aiding is a process by which the tracking

gate is placed over the subsequent expected position of the
target. As the ARPA gains confidence in its ability to predict the
motion of the target, the tracking gate narrows, during which
time if the target maneuvers, and gets out of the tracking gate,
the tracking gate is automatically widened to search the target. If
the ARPA is unable to place the target in the tracking gate within
the next 5 scans of the 10 consequitive scans, a lost target alarm
is activated.
DAY FOUR
 Target History : History of the target are equally time
spaced previous positions of the target. Looking at the
history, an observer is able to derive the information
about the motion of the target.
 Trails : Trails are the tracks over which the target has
moved. Trails are indicated by a line of different shades
which on observation yields the information about the
previous course and speed of the target. If the target
has reduced speed, the length of the shaded lines would
be of different length, but a straight line. If the target
has altered course, the trails would be curved. Trail is
generated on joining points that indicating target
history.
SETTING UP THE ARPA

There is no standard ARPA model. Modern ARPAs

far exceed the minimum IMO Performance
Standards. The sequence of setting up of ARPA
varies with manufacturer and hence the ARPA
manual must be understood thoroughly if the full
potential of the equipment is to be utilized.
Described below is a general sequence of setting up
the ARPA.
Step 1: Set up the basic Radar

The radar equipment that supplies the basic input data to

the ARPA equipment must be set up and tuned properly.
If the radar is not set up correctly it may not pick up
weak target echoes. ARPA cannot acquire and track a
target if it does not show up as a radar echo. The ARPA
user may be unaware of this and placing
 Undue reliance on the set will lead to potentially
dangerous situation.

Step 2. Select an appropriate

a) Display Presentation
b) Range Scale
 Display presentation includes mode and
orientation. This is dependent on the users
preference.
 A North-up, true motion presentation will perhaps
be best when navigating in poor visibility, when
both navigational obstructions and traffic have to be
considered. In general, true motion is more suitable
for use with lower range scales and in congested
coastal waters rather than in open sea.
 A Course-up, relative motion presentation is ideal for
comparing the radar picture with the view through the
bridge windows; for example, when encountering traffic
in open sea conditions or when navigating through a
buoyed channel.
 In most other conditions, a North-up, relative motion
presentation is considered to be the best.
 The 12-mile range scale is recommended for normal as
it gives provides ample area under observation allowing
the effective use of ARPA in assisting in navigation.
Use shorter range scales when monitoring a close-
quarters situation, when negotiating narrow channels or
for position fixing. Switch back to a longer range scale
as soon as the situation permits. Range scales longer
than the 12-mile must be used occasionally for long
range scanning to obtain early warning of the risk of
collision.
Step 3: Check Inputs
Ensure that the gyro compass and log are
functioningcorrectly and rectify any errors. Check that
their inputs to the ARPA tally with the master
equipment.
The speed input to the ARPA should be the ship's
speed through the water.
This is to match the gyro input which provides the
ship's course through the water.
All logs provide the ship's speed through the water except
the Doppler log in the ground-lock mode (when it provides
the ship's speed over ground). Therefore, the Doppler log
should be in the water-lock mode when used to provide
speed input to the ARPA. For manual speed input, enter the
ship's present speed through the water.
Step 4: Set up the ARPA

1. Select the acquisition mode - either manual or

automatic. In the manual mode, manually acquire all
targets using the joystick and cursor. In case of the
automatic mode, set up the auto-acquire areas or
exclusion zones depending on the ARPA set.
2. Set the guard rings - fixed and/or variable at the desired
distance off.
3.Set the minimum safe CPA and TCPA limits. This also
sets the PAD miss-distance if this facility is available.
4.Select the vector mode (true or relative) or PADs if
available.
5.Set vector length in minutes. A default vector length
may automatically appear on switching on. Stars or
similar symbols instead of vectors for all tracked targets
indicate vector length is set to zero.
6.Ground-stabilize the picture if required.
7.Switch-on past positions if necessary.
8.Carry out operational tests before using ARPA data.
 Notes on the above ARPA set-up points

Auto acquisition - In case the vessel is in open waters,

acquisition may be set for entire radar screen. However,
in coastal areas or in areas of heavy traffic or in bad
weather, the user will limit auto acquisition in sectors and
also set exclusion zones.
Cautions : The radar observer, should never neglect to
monitor the raw radar display. It is dangerous to rely
completely on ARPA auto-acquisition facility as a lookout
aid.
Minimum safe CPA & TCPA : There are no fixed
guidelines for setting up of minimum safe CPA and
TCPA limits. The observer, in consultation with the
Master, decides this considering the handling
characteristic of the vessel, her response to the helm,
and the prevailing traffic conditions. The Danger Target
Alarm sounds only when both the minimum safe CPA
and TCPA settings are violated by the target data
The larger the setting of CPA, the safer is the passing
distance. The longer the TCPA setting, the earlier will be
the alarm activation. In open sea conditions, a setting of
CPA 3.0 NM and TCPA 30 minutes may be appropriate. In
congested areas, both CPA & TCPA will need to be earlier.
CPA cut-off limit : A target 8 miles off, the CPA calculated
by the ARPA can he in error by upto 0.7 NM. While most
sets have better accuracy than this, it is prudent to always
exceed this amount by a fair margin when setting the CPA
limit. For example, set CPA at not less than 1.0 NM.
TCPA cut-off limit : The Accuracy permits a maximum
error in TCPA of 1 minute for a target 8 NM off having a
TCPA of 24 minutes.
As this is not a considerable amount, one needs to
consider the time required to take an avoiding action.
This also depends on the manouvering characteristics
of own ship.

A 10 minute TCPA cut-off limit may be appropriate.

The above cut-off limits further be reduced only in
exceptional circumstances like narrow channels and
very congested waters.
PERFORMANCE STANDARDS FOR
AUTOMATIC RADAR PLOTTING AIDS. [As on
01/Jan/97, as per IMO assembly resolution
A.823(19)]
 INTRODUCTION

 ARPA should in order to improve the standards of collision

avoidance at sea :
1. Reduce the workload of observers by enabling them
automatically to obtain information about plotted targets, so
that they can perform as well with several targets as they can
by manually plotting a single target.
2. Provide continuous, accurate and rapid situation evaluation.
PERFORMANCE STANDARDS

 DETECTION
 Where a separate facility is provided for detection of
targets, other than by the radar observer, it should
have a performance standard not inferior to that
which can be obtained by the use of radar display.
 ACQUISITION
 Target acquisition may be manual or automatic for
relative speeds up to 100 Knots. However, there
should always be a facility to provide for manual
acquisition and cancellation ARPAs with automatic
acquisition should have a facility to suppress
acquisition in certain areas. On any range scale where
acquisition is suppressed over a certain area, the area
 Acquisition should be defined and indicated on the
display.
 Automatic or manual acquisition should have a
performance not inferior to that which could be
obtained by the use of the radar display.

 TRACKING
 The ARPA should be able automatically track, process
simultaneously display and continuously update the
information on at least 20 targets, whether
automatically or manually acquired.
If automatic acquisition is provided, description of the
criteria of selection of targets for tracking should be
provided to the user. If the ARPA does not track all
targets visible on the display, targets which are being
tracked should be clearly indicated with the relevant
symbol on the display. The reliability of tracking should
 not be less than that obtainable using manual recordings
of successive target positions obtained from the radar
display.
 The ARPA should continue to track an acquired target
which is clearly distinguishable on the display for 5 out
of 10 consecutive scans, provided the target is not
subject to target swap.
 The possibility of tracking error, including target swap
should be minimised by ARPA design. A qualitative
description of the effects of error sources on the
automatic tracking and corresponding errors should be
provided to the user.
DAY FIVE
 The ARPA should be able to display on request with
relevant symbols at least Four equally time spaced past
positions of any targets being tracked over a period
appropriate to the range scale in use. The time scale of
the past positions plot should be indicated. The
operating manual should contain an explanation of
what the past position plots represent.

 DISPLAY
 The display may be separate or integral part of ship’s
radar. However, the ARPA display should include all
the data required to be provided by a radar display in
accordance with the performance standards for
navigational radar equipment.
 The design should be such that any malfunction of
ARPA parts producing data additional to radar as
required by the performance standards for navigational
equipment should not affect the integrity of the basic
radar presentation.
 The ARPA facility should be available on at least 3, 6
and 12 nautical miles, there should be a positive
indication of the range scale in use.
 ARPA facilities may also be provided on other range
scales permitted by the IMO PERFORMANCE
STANDARDS for radar equipment.
The ARPA should be capable of operating with
relative motion display with “north Up” and “Course
Up” azimuth stabilization. In addition ,the ARPA may
also provide for true – motion display .If true –
motion is provided ,the operator should be able to
select the display either true or relative motion .There
should be a positive indication of the display mode
and orientation in use.
 The course and speed information generated by the
ARPA for acquired targets should be displayed in a
vector or graphic for which clearly indicates the targets
predicted motion with relevant symbols.
 An ARPA presenting information in vector form
only should have the option of both TRUE and
RELATIVE vectors. There should be an indication of
the vector mode selected and, if true vector mode is
selected, the display should show whether it is sea or
ground stabilized.
An ARPA which is capable of presenting target
course and speed information in graphic form should
also on request, provide the targets true and/or
relative vector.
The vectors displayed should be time-adjustable.
A positive indication of the time scale of the vector in
use should be given.
If stationary targets are being used for ground
referencing, this fact should be indicated by the relevant
symbols. In this mode, the relative vectors including
those of targets used for ground referencing should be
displayed when required.
The ARPA information should not obscure the
visibility of radar targets. The display of ARPA data
should be under the control of the radar observer. It
should be possible to cancel the display of unwanted
ARPA data within 3 seconds.
Means should be provided to adjust independently the
brilliance of the ARPA data and radar data, including
complete extinction of the ARPA data.
The method of presentation should ensure that the
ARPA data is clearly visible in general to more than one
observer in the conditions of light normally experienced
on the bridge of a ship by day and by night. Screening
may be provided to shade the display from sunlight but
not to the extent that it will impair the observer’s ability
to maintain a proper lookout.
The display of the data provided above should include
an identification of whether the data provided is
referenced to sea or ground stabilization.
 TRIAL MANEOUVRE
 The ARPA should be capable of simulating the effect
on all tracked targets of an own-ship maneouvre with
or without time delay before maneouvre without
interrupting the updating of target tracking and display
of actual target alphanumeric data. The situation
should be indicated with the relevant symbol on the
display.
 The operating manual should contain an explanation of
the principles underlying the trail maneouvre technique
adopted including, if provided, the situation of own
ship’s maneouvring characteristics.
 It should be possible to cancel a trail maneouvre at any
time.
 DATA REQUIREMENTS
 The observer should be able to select any tracked target
to obtain data. Targets selected should be marked with
relevant symbols on the radar display. If data is
required for more than one target at the same time each
symbol should be separately identified, for example
with a number adjacent to the symbol.
 The following data for each selected target should be
clearly and unambiguously identified and displayed
immediately and simultaneously in alphanumeric form
outside the radar area.
1. Present range of the target
2. Present bearing of the target.
3. Predicted target range at the closest point of approach.
(CPA)
4. Predicted time to CPA (TCPA)
5. Calculated true course of the target.
6 Calculated true speed of the target.

Facilities to adjust the brilliance should be provided.

Provisions should be made to obtain quickly the range
and bearing of any object which appears on the ARPA
display.
When a target appears on the radar display, and in the case
of automatic acquisition, enters within the acquisition area
chosen by the observer or in the case of manual
acquisition, has been acquired by the observer, the ARPA
should present in a period of not more than 1 minute an
indication of the target’s motion trend, and display within
3 minutes the targets predicted motion.
 After changing range scales on which ARPA facilities
are available or resetting the display, the full plotting
information should be displayed within a period of
time not exceeding one scan.
 SEA AND GROUND STABLILIZATION
 The ARPA should be capable of sea and ground
stabilisation.
 Log and speed indicators providing inputs to ARPA
equipment should be capable of providing the ship’s
speed through the water in the fore and aft directions.
 The ground stabilized input may be provided from the
log, from an electronic position fixing system, if the
speed measurement accuracy is in accordance with the
performance requirements of navigational equipment
or from tracked stationary targets.
The type of input and stabilization in use should be displayed.

ACCURACY
Accuracy standards are provided for the ARPAs.
 CONNECTION WITH OTHER EQUIPMENT
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 should
be met whether the ARPA is operating or not.
Additionally, the ARPA should be designed to comply with
this requirement under fault conditions as far as
practicable.
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.
 PERFORMANCE TESTS AND WARNINGS

The ARPA should provide suitable warnings of ARPA

malfunction to enable the observer to monitor the proper
operation of the system. Additionally, test programmes
should be available so that the overall performance of ARPA
can be assessed periodically against a known solution. When
a test programme is being executed, the relevant test symbol
should be displayed.
OPERATIONAL WARNINGS
The ARPA should have the capability to warn the
observer with a visual and audible signal of any
distinguishable target which closes to a range or transits a
zone chosen by the observer. The target causing the
warning should be clearly indicated with relevant symbols
on the display.
The ARPA should clearly indicate if a tracked target is
lost, other than out of range, and the targets last tracked
position should be clearly indicated on the display.
It should be possible for the observer to activate or de-
activate the audible warning signal.
Thank You