They were able to travel between settlements with pinpoint accuracy thanks to a complex network of hilltop monuments.
These covered much of southern England and Wales and included now famous landmarks such as Stonehenge and The Mount.
New research suggests that they were built on a connecting grid of isosceles triangles that 'point' to the next site.
Many are 100 miles or more away, but GPS co-ordinates show all are accurate to within 100 metres.
This provided a simple way for ancient Britons to navigate successfully from A to B without the need for maps.
Mr Brooks, from Honiton, Devon, studied all known prehistoric sites as part of his research.
He said: ''To create these triangles with such accuracy would have required a complex understanding of geometry.
''The sides of some of the triangles are over 100 miles across on each side and yet the distances are accurate to within 100 metres. You cannot do that by chance.
''So advanced, sophisticated and accurate is the geometrical surveying now discovered, that we must review fundamentally the perception of our Stone Age forebears as primitive, or conclude that they received some form of external guidance.
''Is sat-nav as recent as we believe; did they discover it first?''
Mr Brooks analysed 1,500 sites stretching from Norfolk to north Wales. These included standing stones, hilltop forts, stone circles and hill camps. .....