# IMU Simulation

<figure><img src="/files/x2rMHygBFBAv1tl4MlT7" 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 %}


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