https://en.wikipedia.org/wiki/Hyperbolic_navigation ("Hyperbolic navigation")
https://en.wikipedia.org/wiki/Omega_(navigation_system) ("Omega (navigation system)")
> "OMEGA was the first global-range radio navigation system, operated by the United States in cooperation with six partner nations. It was a hyperbolic navigation system, enabling ships and aircraft to determine their position by receiving very low frequency (VLF) radio signals in the range 10 to 14 kHz, transmitted by a global network of eight fixed terrestrial radio beacons, using a navigation receiver unit. It became operational around 1971 and was shut down in 1997 in favour of the Global Positioning System."
Also compared to London or many metro systems, Chicago’s is not deep underground at all. As a Chicagoan I was very surprised the first time I saw some of the escalators in London or Washington.
In some parts Chicago’s is almost literally just basement level with nearby buildings.
The reason that the Underground uses small tunnels was because expensive even then to pay people to dig out tunnels by hand.