Well, no. But pretty soon we should have a navigation system that works underground and underwater. It could be used by miners...and also carried by spelunkers so they can be located.
It's called muPS because it uses muons, which go through rock. The only obstacle is it needs to be more accurate...and of course we need to build detectors. Those would be on the ground above the area you're exploring (so they could be put over popular cave systems as well as mines, etc). For underwater exploration, presumably, the detectors would be on boats.
Getting it more accurate requires tying it in to clocks for time synchronization, same as GPS.
It's a long way from practical, but it's an engineering problem at this point!
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