> 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/rovl-simulation.md).

# ROVL Simulation

<figure><img src="/files/RsqLea7mjCw3BE8Tzvd6" alt=""><figcaption></figcaption></figure>

The ROVL Simulation simulates the ROVL detecting an ROV's pinger at the given slant range, **relative** bearing and **relative** elevation. The sweep parameter provides an arc length for simulated movement of the ROV. The ROV moves with harmonic motion.

Only rudimentary error checking and input range is done.