A system of a transmitter and a receiver uses magnetic fields to determine the relative position and orientation, or pose, of the two devices. For example, the transmitter could be a handheld control device and the receiver could be an augmented reality or other computing solution. The transmitter transmits two magnetic fields of differing frequencies and differing amplitudes. The receiver selects the one of the magnetic fields with the higher signal to noise ratio to determine the relative pose of the transmitter. By using two magnetic fields of different amplitudes, the pose can be determined over a wider range of separations.