An example device includes a first gradiometer that includes a first set of sensing elements aligned along a first axis, a second gradiometer that includes a second set of sensing elements aligned along a second axis, and a controller. The first set of sensing elements and the second set of sensing elements may be configured to sense a set of magnetic field components that are perpendicular to the rotational axis, wherein the first axis is in a first plane and the second axis is in a second plane, and the first plane and the second plane may be perpendicular to a rotational axis of a rotatable object. The controller may obtain, via the first gradiometer and the second gradiometer, the set of components of the magnetic field. The controller may then determine, based on obtaining the set of components of the magnetic field, the angular position of the rotatable object.