As I known , MPU6050’s sample rate can up to 1KHz , now I want to write a ekf algorithm ,use mpu6050 and underwater GPS (is a product from the waterlinked),the question is the underwater GPS’s sample rate is only 4hz, that means when I have one data from underwater GPS ,I will have 250 data from MPU6050, how can I handle these data to fuse with data from underwater GPS?