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The error products derive from the horizontal wind speed bias and apparent turbulence intensity. Departing from a geometrical formulation of the FDWL attitude and of the LiDAR retrieval algorithm, the contributions of the rotational and translational motion to the FDWL-measured total error are computed. Central to this process is the interpretation of the velocity\u2013azimuth display retrieval algorithm in terms of a first-order Fourier series. The obtained 6 DoF formulation is validated numerically by means of a floating LiDAR motion simulator and experimentally in nearshore and open-sea scenarios in the framework of the Pont del Petroli and IJmuiden campaigns, respectively. Both measurement campaigns involved a fixed and a floating ZephIRTM 300 LiDAR. The proposed formulation proved capable of estimating the motion-induced FDWL horizontal wind speed bias and returned similar percentiles when comparing the FDWL with the fixed LiDAR. The estimations of the turbulence intensity increment statistically matched the FDWL measurements under all motional and wind scenarios when clustering the data as a function of the buoy\u2019s mean tilt amplitude, mean translational-velocity amplitude, and mean horizontal wind speed.<\/jats:p>","DOI":"10.3390\/rs15061478","type":"journal-article","created":{"date-parts":[[2023,3,8]],"date-time":"2023-03-08T01:58:22Z","timestamp":1678240702000},"page":"1478","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["A Unified Formulation for the Computation of the Six-Degrees-of-Freedom-Motion-Induced Errors in Floating Doppler Wind LiDARs"],"prefix":"10.3390","volume":"15","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7398-925X","authenticated-orcid":false,"given":"Andreu","family":"Salcedo-Bosch","sequence":"first","affiliation":[{"name":"CommSensLab, Department of Signal Theory and Communications, Universitat Polit\u00e8cnica de Catalunya (UPC), E-08034 Barcelona, Spain"}]},{"given":"Joan","family":"Farr\u00e9-Guarn\u00e9","sequence":"additional","affiliation":[{"name":"CommSensLab, Department of Signal Theory and Communications, Universitat Polit\u00e8cnica de Catalunya (UPC), E-08034 Barcelona, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5260-8937","authenticated-orcid":false,"given":"Marcos Paulo","family":"Ara\u00fajo da Silva","sequence":"additional","affiliation":[{"name":"CommSensLab, Department of Signal Theory and Communications, Universitat Polit\u00e8cnica de Catalunya (UPC), E-08034 Barcelona, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8614-4408","authenticated-orcid":false,"given":"Francesc","family":"Rocadenbosch","sequence":"additional","affiliation":[{"name":"CommSensLab, Department of Signal Theory and Communications, Universitat Polit\u00e8cnica de Catalunya (UPC), E-08034 Barcelona, Spain"},{"name":"Institut d\u2019Estudis Espacials de Catalunya (IEEC), Universitat Polit\u00e8cnica de Catalunya, E-08034 Barcelona, Spain"}]}],"member":"1968","published-online":{"date-parts":[[2023,3,7]]},"reference":[{"key":"ref_1","unstructured":"Global Wind Energy Council (2019). 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