Addressing five principal challenges in underwater positioning including update rate, range errors, latency, gimbal lock, and sensor integration.

Utilizing advanced sensor fusion with tightly coupled IMU-GNSS Unscented Kalman filter and latency compensation for enhanced navigation accuracy.

Implementing novel real-time latency estimation and quaternion-based orientation to overcome traditional limitations.

Employing a modular architecture that facilitates seamless integration of additional sensors, improving overall system accuracy and flexibility.