The described techniques address the issues associated with conventional OoS sensor systems by mounting a magnetized ring onto a rotatable shaft for which an angular position is to be measured. Specific sensor configurations are disclosed regarding each magnetic sensor's position with respect to one another and each magnetic sensor's position with respect to the rotatable shaft. The described configurations provide a stray-field robust solution due to the specific magnetic sensor configurations such that, when stray fields are present, pairs of magnetic sensors are exposed to essentially the same stray field components, which thus cancel one another. Thus, the angle of the rotatable shaft as a function of the measured strength of the magnetic field components at any time instant can be calculated even in the present of stray magnetic fields.