Trying to mosaic forward looking sonar on a 2D map with location and heading. Not sure where to start.

Ive been tasked with creating a tool that can be used to show all sonar collected by a subsea vehicle on a 2D map. Basically as a method for a user to quickly see all of the sonar and see if anything was found. Ill attach an example of what the sonar looks like below. Im not sure where to start as this seems like a complicated task. Below is how I image it should be done but im wondering if someone can help check my logic and make sure im not missing anything or if there might be an easier way to do this. Unfortunatly the raw sonar data isnt recorded by the sonar, only a video (.mp4) and I have lots of telemtery and GPS data from each run.

First I figured I should save each frame of the sonar, and try to figure out where that sonar was recorded (lat and long of frame?). Then plot each frame at that point and orient the image in the direction of heading on top of a geographic map of the area. I assume ill need to create a mosaic of each image after its stacked on top of another image right? I want to plot all of that on a single map (thats the first goal) the second is to be able to create a playback tool where a point moves along the track and plots each sonar frame as it was collected (thats a future job once I figure out the rest). Finally, I want to be able to export all of this (the map, the tracks, and the sonar frames) as a geotiff for export into GIS.

This seems like a rather difficult task and im hoping someone can point me in the right direction of where to start. Hopefully it makes sense, thanks again for all your help!

Heres a sonar frame example: