> For the complete documentation index, see [llms.txt](https://docs.ceruleansonar.com/c/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.ceruleansonar.com/c/omnitrack/bench-testing-and-simulation/imu-simulation.md).

# IMU Simulation

<figure><img src="https://1968122395-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FiGep5P4JoGKQtExRT40W%2Fuploads%2FzLm9Z2SSgQz0bWvCrOK1%2Fimage.png?alt=media&amp;token=813d9fd2-f9e7-4e1c-8de4-34cf3e71ad6e" alt=""><figcaption></figcaption></figure>

The IMU Simulation provides a stable and repeatable method of simulating the orientation of the ROVL platform.

The IMU is used to transform relative angles from the ROVL into true (Earth-frame) angles.&#x20;

{% hint style="info" %}
Note the IMU angles are in ENU convention, so (0,0,0) implies the ROVL is level and is pointed east (NED convention heading 90 degrees)
{% endhint %}