A device for quantitatively measuring the relative position and orientation of two bodies in the presence of metals via measuring the position and orientation of receiving antennae with respect to transmitting antennae utilizing direct current electromagnetic field signals is hereby disclosed. The transmitting and receiving components of the instant device consist of two or more separate transmitting antennae of known position and orientation with respect to each other. Each transmitting antenna is driven one at a time by a pulsed, direct current signal. The receiving antennae measure the values of transmitted direct current magnetic fields one dimension at a time and those of the Earth's magnetic field as well, one dimension at a time. A computer is used to control circuit elements of the transmitting and receiving elements of the device and likewise functions to convert received signals into position and orientation outputs after having first effected a subtraction out of the overall value of the Earth'magnetic field.