Device Mounting

It is recommended that the Omniscan 3D be mounted at an angle 30-45 degrees downward from horizontal.

Our reasoning for this recommendation:

• If the device is mounted shallower than ~25 degrees below horizontal, then when the vessel rolls or heels, then the device may not be able to capture points in the nadir.

• If the device is pointed down further than ~50 degrees below horizontal, the ultimate achievable swath width will be reduced.

Shown here is the Omniscan 3D Upgrade Kit mounted to the hull of a Blue Robotics BlueBoat using a 3D printable mount and bushings located here: https://drive.google.com/drive/folders/1X8wQ-rc1oOJj9bXkUPU40jZhRm5dFBDM?usp=drive_link

While the angle of the Omniscan 3D can be mostly be freely adjusted due to the IMU compensation, it does not support facing straight down like the Surveyor 240. If the device is allowed to point straight down, it will interpret that as suddenly being mounted pointing in the other direction (points on the starboard side would appear on the port side)