Introduce some ancient navigation knowledge. How did navigators navigate before satellites and GPS technology were invented?

Some old sea wolves often say: "Navigation is becoming more and more high-tech, and it is enough to put it bluntly. The magnetic compass-pointing, is equivalent to a compass, but the dial should be more accurate; Sextant-positioning, whether it is landmark positioning or astronomical positioning, the altitude angle can be measured by sextant, and the position can be calculated (there are special celestial almanac, solar altimeter, celestial azimuth table, etc.), and the coastal area can be positioned by landmark, and the sun height can be measured during the day and the stars can be measured at night; Chart-needless to say, just like a map, at least you know where you are and where to go, which is used to draw up a planned route and determine the track direction.

Tides, ocean currents, meteorology, etc. were all developed later. The original navigators of human beings are now called adventurers. Because they don't even have charts, they rely on compasses, binoculars and courage, and they are purely desperate ... Give me some points, and what I wrote is also desperate enough.