The measurement of the directional wave spectrum in oceans has been done by different approaches, mainly wave-buoys, satellite imagery and radar technologies; these methods, however, present some inherent drawbacks, e.g., difficult maintenance, low resolution around areas of interest and high cost. In order to overcome those problems, recent works proposed a motion-based estimation procedure using the vessel as a wave sensor; nevertheless, this strategy suffers from low-estimation capabilities of the spectral energy coming from periods lower than the cutoff period of the systems, which are important for the drift effect predictions. This work studies the usage of wave-probes installed on the hull of a moored vessel to enhance the estimation capabilities of the motion-based strategy, using a high-order estimation method based on Bayesian statistics. First, the measurements from the wave-probes are incorporated to the dynamic system of the vessel as new degrees-of-freedom (DOF); thus, the Bayesian method can be expanded without additional reasoning. Second, the proposal is validated by experiments conducted in a wave-basin with a scale model, concluding that the approach is able to improve not only the estimation of spectra with low peak period but also the estimation in the entire range of expected spectra. Finally, some drawbacks are discussed, as the effect of the nonlinear roll motion, which must be taken in account when calculating the wave-probe response; and the poor mean-direction estimation capability in some particular wave directions and low peak periods.

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