You're lucky that you have a very specific requirement -- makes life simple.
Using iAnnotate on my N7, navigation through a long document is terrible. The stock N7 reader isn't good either. If you open the PDF in Kindle reader, navigation is fine, but that's about it feature wise.
There might be an Android PDF app they will do what you want, but don't assume anything from the specs -- check for yourself if possible. I'm finding lots of difficulties dealing with long documents in many apps on both my N7, and N4, so it doesn't seem to be a hardware specific issue.
Shortage of good apps, or perhaps an OS problem yet to be resolved??? Just make sure there's a workable solution for you before you commit.