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. 2023 May 3;10:251. doi: 10.1038/s41597-023-02160-9

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© The Author(s) 2023

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 7 — Validation of the instrument v2021 (Zeni-v2021 processed) against the Sofar Spotter (SPOT-1386), in open water, reproduced from³⁸. The instruments were deployed close to each other, but drifted significantly with time. Agreement within typically 5% is obtained on most of the spectrum. The increasing, spurious noise at low frequencies observed in the Zeni-v2021, is a well known phenomena for IMU-based measurements of waves in ice in the open ocean (which results from the noise present in the Kalman filter attitude estimate under rough sea conditions, in combination with the intrinsic spectral noise background inherent to MEMS sensors, and the double integration corresponding to Eqn. (4); for more details, see⁸³), which can be filtered out. This phenomenon is not expected to be present when performing measurements of waves in the sea ice.