Halo is a compact, easy to integrate, and affordable INS solution for ROV navigation and positioning. Halo is offered in two heading accuracy configurations: An “Affordable” <0.3° secant lat. heading accuracy INS or a “Precise” <0.1° secant lat. heading accuracy INS. Both Halo configurations are rated for use in water depths up to 4,000 meters and can tightly integrate various positioning solutions (USBL, DVL, LBL, Depth, etc.) as a complete subsea INS solution.