> 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/sonarview/session-configurations/omniscan-3d-+-vehicle-position-heading.md).

# Omniscan 3D + Vehicle Position/Heading

Add your Omniscan 3D to the devices list:<br>

<figure><img src="/files/LRbehaGuKJk9YSZltGGW" alt="" width="313"><figcaption></figcaption></figure>

{% hint style="info" %}
The Omniscan 3D has an internal IMU, so Mounting Angle just affects how the boat looks in SonarView
{% endhint %}

* Mounting Angle: Angle that the Omniscan 3D is mounted relative to the attitude source
* Mounting Offset: Position offset relative to the position source\
  \
  Next, add your vehicle to the Vehicles list: <br>

  <figure><img src="/files/LkVXYBtKfA3ugJinxLx9" alt="" width="315"><figcaption></figcaption></figure>

Finally, add them both to a session. Your Session Configurations page should look something like this

<figure><img src="/files/KtEuGDg0GAZE9CZgO8q3" alt=""><figcaption></figcaption></figure>

Once both the vehicle and the Omniscan 3D are connected, your session will appear in Discovery, allowing you to connect.