Methods and apparatus are discloses for position a vehicle. In one aspect, an apparatus for positioning a vehicle is provided. The apparatus comprises a plurality of receive, each configured to generate a respective voltage signal from a wireless magnetic field generated by a field generator. The apparatus further comprises a processor configured to determine a first set of data based on the respective voltage signals generated by the plurality of receive coils, and reduce the first set of data to a second set of data that is substantially constant regardless of relative rotation between the plurality of receive coils and the field generator. The apparatus is further configured to determine a plurality of candidate positions based upon the second set of data, which are used to determine a position and an orientation with respect to the field generator based on the first set of data.