Princess Mipha

Mipha is one of the main character in The Legend of Zelda: Breath of the Wild. She is the Princess of the Zora and the Zora Champion. Mipha is the the daughter of King Dorephan and the elder sister of Prince Sidon, as one of the Champions, Mipha was Link's allies and childhood friend 100 years before the events of Breath of the Wild , she wears the same blue cloth as Daruk, Urbosa, Revali,Link and Zelda marking her affiliation to Zelda's group. Mipha was born with the unique ability to heal others.

History
For the moment Mipha's role in the Zelda series is only composed of informations with an unconfirmed timeline placement and should stay this way until we have a definitive answer, so please don't add any information regarding the timeline placement without OFFICIAL confirmation, thanks.

100 years before The Legend of Zelda: Breath of the Wild
Mipha was chosen by King Rhoam Bosphoramus Hyrule and Princess Zelda due to her unique ability to become the Zora Champion and pilot of the Divine Beast Vah Ruta as a protector of Hyrule in line with their plan to prentively build an army in hope of destroying Ganon the moment he would return, she also created a suit of Zora Armor for her future husband, a tradition followed by the Zora princesses at the time, intending to present it to Link of whom she held romantic feelings for.She then help Zelda's group to improve their efficiency for this task and is caught off guard by Ganon emerging from Hyrule Castle and is sent by the Pricess to her divine beast to start the counter attack only to be killed by Waterblight Ganon who was waiting for her.Mipha's spirit was then trapped within the Divine Beast while Waterblight Ganon was corrupting it.

The Legend of Zelda: Breath of the Wild
During Breath of the Wild, Mipha's spirit was freed by Link a century after her demise when the Hero slew Waterblight Ganon, she then blessed Link with the use of Mipha's Grace in hope to at least fufill her old promise of healing and protecting him.She then conduct Vah Ruta to its firing position and wait for the battle between Link and Ganon.When Link finally faced the monster, she along with the other Champions fired a large laser beam in order to weaken Ganon allowing Link to destroy the physical form of the beast.