Methods and systems for measuring multi-turn angular position include a system of N gears meshed with one another, each gear having a unique number of teeth. A first gear is mounted to an input shaft. A set of N angular position sensors are each configured to measure the angular position of a respective gear in the system of N gears within one rotation. A control module is configured to determine an angular position of the input shaft over multiple rotations using the measured angular positions of the N gears.