That's some impressive science there, not like there is a deep-space GPS.
Does it look for the sun and figure out from there?
"... and celestial referencing instruments (Sun sensor/Canopus Star Tracker) to maintain pointing of the high-gain antenna toward Earth"
"- African dung beetles orient to the starry sky to move along straight paths
- The beetles do not orientate to the individual stars, but to the Milky Way"
https://www.cell.com/current-biology/fulltext/S0960-9822(12)...
https://www.science.org/content/article/dung-beetles-navigat...
https://space.stackexchange.com/questions/43803/how-did-the-...
"The high-gain antenna has a beamwidth of 0.5° for X-band, and 2.3° for S-band."
At 130-150 AU, the earth is always within about 0.4° of the sun. Since commands are sent on S-band, pointing directly at the sun gets a pretty good signal.
Second order calculations use careful analysis of the signal pattern in telemetry data- IIRC you can see a slow stretch of the phase which can be used to estimate distance and velocity with high accuracy.
Voyager, along with Apollo, stand as the finest examples of human engineering done yet- we got a bunch of people to the moon and back, and built a probe that still operates 50 years later... farther than anything else humans have launched... I'd be lucky if I can deploy my web app once a week.
Being drowned out is harder than you might think. The maximum data rate of a weak signal is 1.4 x [bandwidth] x [signal-to-noise ratio]. If you transmit across a 200MHz band, and your signal is a million times weaker than the noise, you can do hundreds of bits per second.