diff --git a/src/DopplerVelocityLog.cc b/src/DopplerVelocityLog.cc
index 769a8cad..4a01b73b 100644
--- a/src/DopplerVelocityLog.cc
+++ b/src/DopplerVelocityLog.cc
@@ -1683,9 +1683,6 @@ namespace gz
           }
         }
 
-        const gz::math::Vector3d beamAxisInWorldFrame =
-            sensorStateInWorldFrame.pose.Rot() * beamAxisInSensorFrame;
-
         const gz::math::Vector3d beamAxisInReferenceFrame =
             this->referenceFrameRotation * beamAxisInSensorFrame;