Range and orientation of a transmitter and a receiver are found by detecting the magnetoquasistatic field couplings between coils at the transmitter and receiver. Sum functions and ratio functions are calculated for each of the unique magnetoquasistatic field couplings between the transmitter and the receiver. The sum and ratio functions are inverted to determine the drift-free range and orientation. Linear and angular velocity and acceleration are calculated by applying a filter to reduce noise, and then taking the corresponding derivatives.