One suggestion on how to orientate yourself around the keyboard, without looking at the keys, is to feel for the white keys without the black keys in between, and then feel whether one of these white keys is to the left or the right of a group of 2 black keys or a group of 3 black keys. In this way, you can tell whether the white key is a B, C, E or F. This is the basic way which blind pianists use to orientate their hands over the keyboard, and which organists use to orientate our feet around the pedals.
Another exercise is to practise lots of scales and arpeggios (and their inversions) in the different keys, as fast as you can, not allowing time for you to be able to see, plan and adjust your fingers to correctly hit each note that you are about to play, so that your fingers develop "muscle memory" and become familiar with the distances they have to reach for each of the intervals between each of the various notes.