Which instruments for sailing were invented during the Renaissance compass sonar astrolabe improved maps?

During the Renaissance, the astrolabe was improved significantly, enhancing navigation by allowing sailors to measure the altitude of celestial bodies. Additionally, advancements in cartography led to more accurate and detailed maps, which greatly aided maritime exploration. The magnetic compass also saw refinements during this period, becoming an essential tool for navigating open waters. However, sonar was not invented until much later, in the 20th century.