How did early US nuclear powered subs fix their position?
I suppose modern subs use some form of inertial guidance system and I guess if they approach the surface there is alway GPS.
O'Kane in "Wahoo" and "Clear the Bridge" talks about getting star fixes when surfacing at night to charge batteries. Given that early nuclear subs probably stayed submerged for more than a day or two, how did they fix their position? Were inertial guidance systems already in existence?
Thanks.
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