Motion tracking of a free-yawing floating tidal stream turbine platform

As part of ongoing work to develop and validate a combined model for the behaviour and potential power generation of a floating tidal energy converter, the motion of a prototype device has been recorded over a two month testing period. The inputs from several types of sensor have been combined with GPS position information to improve accuracy of the reported position, and the distribution of this position and orientation under different operating conditions is illustrated and discussed. The position distribution is consistent with other published work describing the motion of this platform. Further work will improve the processing of the underlying data and extend the model to take advantage of the redundant information available.