Disclosed herein are systems and methods for acoustic navigation. The acoustic navigation system includes a surface component installed on a vessel and a subsurface component positioned on the seafloor. The surface component includes acoustic transducer and acoustic transceiver units configured to generate and transmit an omnidirectional acoustic interrogation signal and directionally receive acoustic reply signals. The subsurface component includes a plurality of seafloor platforms placed at known geodetic locations on the seafloor. Each seafloor platform includes an acoustic transducer unit and an acoustic signal processing unit and is configured to receive and process the acoustic interrogation signals and generate and transmit an omnidirectional acoustic reply signal. The surface component is further configured to receive and process the acoustic reply signals, to calculate the geodetic location and heading of the vessel, and to display the geodetic location and heading information on a human machine interface.