## 2 Materials and Methods
### Measurement Data  
The terrestrial laser scanning method was used to obtain spatial data about the land objects of the marina of the NSC and objects on the water surface. The three-dimensional representation of infrastructural elements supplemented the bathymetric data. The instrument used, the Trimble TX8 scanner, was equipped with an optical module that enabled picture-taking of the environment and a designation of a color to individual measured points at the stage of data processing. 16 scanner stations were established in the marina area (Figure 3). For each point from the point cloud, the horizontal and vertical angles and the distance between the target and the device were measured. Based on the obtained observations, the coordinates of individual points in the local coordinate system of the station were calculated. It is worth noting that each measuring station had a separate coordinate system with an origin point in the laser emission and reception center. The planar orientation of the coordinate system resulted from the method (direction) of mounting the instrument on a tripod.  
Each of the scans registered at the stations had a local coordinate system. To create a uniform point cloud for the entire marina, one of the local systems was adopted as the global system for all the point clouds. To perform this operation, it was necessary to replicate the same elements of the real world in the three-dimensional space of adjacent point clouds. The transformation control points were the coordinates of the centers of spherical markers (polystyrene spheres) located in the marina, ensuring optimal visibility from the measurement stations. Coordinates of points (centers of spheres) in local coordinate systems of the stations were used to determine the transformation parameters of every point cloud. The effect of the registration (connection) of point clouds was a coherent and geometrically correct set of spatial data representing the meas  
Figure 3: Location of 16 stations on the background of the point cloud (**a**) and the Trimble TX-8 laser scanner during a measurement (**b**).  
error of 16-point clouds did not exceed 1 cm. The resulting spatial data set was a numerical representation of the marina technical infrastructure (Figure 4).  
The second equally important spatial data set were bathymetric observations recorded by a single-beam echosounder SonarMite mounted on an unmanned surface vessel. Depth readings received a spatial and temporal assignment based on the positioning results of the Trimble R10 GNSS receiver. Satellite measurements carried out by the receiver were performed in the GNSS RTK differential mode using the VRSNet.pl active geodetic network. Bathymetric measurements were carried out in both manual and automatic mode, including setting the drone to follow given profiles. The method of manual navigation of the USV was used in the case of narrow and hard-to-reach areas of the marina basin. Bathymetric data recording locations are shown in Figure 5.  
The GNSS RTK differential measurement method was also used to measure characteristic marina landmarks. The determined vertices coordinates of the border of selected elements of the quay infrastructure were reference points for the registered TLS point cloud. To determine the transformation parameters (scale parameter, rotation angle, and translation vector), selected quay elements measured with a GNSS receiver were identified in the point cloud space. The purpose of the operation, unlike the registration of TLS point clouds described above, was georeferencing the obtained spatial data set. The location of the measured control points of the characteristic points of the marina quay is shown in Figure 6.  
Figure 4: Perspective view of the registered point cloud of the marina.  
Figure 5: Depth measurement locations (**a**) and devices used in the bathymetric survey (**b**).