diff --git a/libraries/AP_HAL_SITL/SITL_State_common.cpp b/libraries/AP_HAL_SITL/SITL_State_common.cpp
index b4f96e4cf4..de94ee6590 100644
--- a/libraries/AP_HAL_SITL/SITL_State_common.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State_common.cpp
@@ -52,6 +52,12 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const
         sitl_model->set_adsb(adsb);
         return adsb;
 #endif
+    } else if (streq(name, "ainsteinlrd1")) {
+        if (ainsteinlrd1 != nullptr) {
+            AP_HAL::panic("Only one ainsteinlrd1 at a time");
+        }
+        ainsteinlrd1 = new SITL::RF_Ainstein_LR_D1();
+        return ainsteinlrd1;   
     } else if (streq(name, "benewake_tf03")) {
         if (benewake_tf03 != nullptr) {
             AP_HAL::panic("Only one benewake_tf03 at a time");
@@ -338,6 +344,9 @@ void SITL_State_Common::sim_update(void)
                       attitude);
     }
 #endif
+    if (ainsteinlrd1 != nullptr) {
+        ainsteinlrd1->update(sitl_model->rangefinder_range());
+    }
     if (benewake_tf02 != nullptr) {
         benewake_tf02->update(sitl_model->rangefinder_range());
     }
diff --git a/libraries/AP_HAL_SITL/SITL_State_common.h b/libraries/AP_HAL_SITL/SITL_State_common.h
index 82c281e305..19e7356c3b 100644
--- a/libraries/AP_HAL_SITL/SITL_State_common.h
+++ b/libraries/AP_HAL_SITL/SITL_State_common.h
@@ -14,6 +14,7 @@
 #include <SITL/SIM_ADSB_Sagetech_MXS.h>
 #include <SITL/SIM_EFI_Hirth.h>
 #include <SITL/SIM_Vicon.h>
+#include <SITL/SIM_RF_Ainstein_LR_D1.h>
 #include <SITL/SIM_RF_Benewake_TF02.h>
 #include <SITL/SIM_RF_Benewake_TF03.h>
 #include <SITL/SIM_RF_Benewake_TFmini.h>
@@ -122,6 +123,8 @@ public:
     SITL::Vicon *vicon;
 #endif
 
+    // simulated Ainstein LR-D1 rangefinder:
+    SITL::RF_Ainstein_LR_D1 *ainsteinlrd1;
     // simulated Benewake tf02 rangefinder:
     SITL::RF_Benewake_TF02 *benewake_tf02;
     // simulated Benewake tf03 rangefinder: