> 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/rov-locator/rovl-coordinate-systems-and-angles/math-to-compass-frame-conversions.md).

# Math to Compass Frame Conversions

{% hint style="info" %}
All angles are expressed in degrees.
{% endhint %}

To convert apparent bearing to the transmitter in Math coordinates to Compass coordinates, use:

                \[Compass] Bearing   =   90 – \[Math] Azimuth

To convert true bearing to the transmitter in Math coordinates to Compass coordinates, use:

                If transducer is pointed down: \[Compass] Bearing   =   90 – \[Math] Azimuth

                If transducer is pointed up: \[Compass] Bearing   =   90 + \[Math] Azimuth

To convert world-referenced \[Math] Yaw to \[Compass] Heading, use:

                If transducer is pointed down: \[Compass] Heading   =   90 – \[Math] Yaw

                If transducer is pointed up: \[Compass] Heading   =   90 + \[Math] Yaw

These conversions are done internally in the receiver and both results are included in the update message as a convenience.