A device for measuring the position (location and orientation), in the six degrees of freedom of receiving antennae (3) with respect to transmitting antennae (2) utilizing pulsed DC magnetic signals. The transmitting and receiving components consist of two or more transmitting antennae of known location and orientation with respect to each other. The transmitting antenna (2) are driven one at a time (or in the case of three or more antennae one or two at a time) by a pulsed, direct current signal. The receiving antennae (3) measure the transmitted direct current magnetic fields and the earth's magnetic field. A computer (5) is used to control the transmitting and receiving elements and to convert the received signals into location and orientation outputs.