What are Iberian sailing inventions from the age of exploration?

During the Age of Exploration, Iberian sailors made significant advancements in navigation and ship design. The development of the caravel, a small, highly maneuverable ship, allowed for exploration along Africa's coast and across the Atlantic. Innovations like the astrolabe and quadrant improved celestial navigation, enabling sailors to determine their latitude at sea more accurately. Additionally, the use of detailed maps and charts, such as the portolan charts, facilitated more precise navigation and exploration.