First Map-Based Car Navigation System Debuted 14 Years Before GPS
theinstitute.ieee.org
theinstitute.ieee.org
These tended to be made into an almost straight line and printed on a single piece of paper with notable junctions and features only.
It would've been obvious at the time that the format would be ideal for fixed routes that these could be scrolled.
Etak had a rate gyro with a motor spinning a flexible metal disk, with the flexing sensed capacitively. I still have one of those somewhere. That was simple and cheap too, but still not very good. All these things had far more drift than even low end modern IC gyros.
[1] http://world.honda.com/history/challenge/1981navigationsyste...