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They used the astrolabe and compass. The astrolabe was invented by Muslims, and the compass by the Chinese.
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Astrolabes were first widely used in the Middle Ages and by about 1450AD they were in use by navigators. They allowed navigators to calculate the position of the Sun and stars from the horizon. Their use was the first step toward scientific navigation. The great age of exploration was coincidental with their use.
The astrolabe, jackstaff and the compass.