The KONGSBERG MRU – 5 is a fifth – generation marine motion sensing device designed for high – precision motion measurements in marine applications2. It is the optimal sensor for motion compensation in multi – beam echo sounders, offshore cranes, hydroacoustic positioning systems, and dynamic motion monitoring on offshore structures2. It integrates three high – accuracy accelerometers and three high – end MEMS gyros of the MRG type developed by Kongsberg Seatex, featuring low – noise characteristics, excellent bias stability, and high – gain accuracy4. With the advanced P – Free Heave algorithm, it can overcome the influence of long – swell conditions, and is suitable for applications that can use delayed heave signals, such as seabed mapping operations2.