diff --git a/boards/sim/sim/sim/Kconfig b/boards/sim/sim/sim/Kconfig
index a2aeb684c8..8063ef5058 100644
--- a/boards/sim/sim/sim/Kconfig
+++ b/boards/sim/sim/sim/Kconfig
@@ -45,4 +45,12 @@ config SIM_NOTIFYSIGNO
 		The signal number to use with nx_eventnotify().  Default: 4
 
 endif
+
+config SIM_WTGAHRS2_UARTN
+	int "Wtgahrs2 sensor serial interface number"
+	default -1
+	depends on SENSORS_WTGAHRS2 && SIM_UART_NUMBER > 0
+	---help---
+		We can select the number accoding to which SIM_UARTX_NAME is uesd to sensor.
+		This range is 0-4.
 endif
diff --git a/boards/sim/sim/sim/src/sim_appinit.c b/boards/sim/sim/sim/src/sim_appinit.c
index 06c57d4edc..cc8d312dcc 100644
--- a/boards/sim/sim/sim/src/sim_appinit.c
+++ b/boards/sim/sim/sim/src/sim_appinit.c
@@ -39,6 +39,7 @@
 
 #include <nuttx/config.h>
 #include <nuttx/board.h>
+#include <nuttx/sensors/wtgahrs2.h>
 
 #include "sim.h"
 #include "up_internal.h"
@@ -83,6 +84,18 @@ int board_app_initialize(uintptr_t arg)
   up_rptun_init();
 #endif
 
+#ifdef CONFIG_SIM_WTGAHRS2_UARTN
+#if CONFIG_SIM_WTGAHRS2_UARTN == 0
+  wtgahrs2_initialize(CONFIG_SIM_UART0_NAME);
+#elif CONFIG_SIM_WTGAHRS2_UARTN == 1
+  wtgahrs2_initialize(CONFIG_SIM_UART1_NAME);
+#elif CONFIG_SIM_WTGAHRS2_UARTN == 2
+  wtgahrs2_initialize(CONFIG_SIM_UART2_NAME);
+#elif CONFIG_SIM_WTGAHRS2_UARTN == 3
+  wtgahrs2_initialize(CONFIG_SIM_UART3_NAME);
+#endif
+#endif
+
   return 0;
 }
 #endif /* CONFIG_LIB_BOARDCTL */