A magnetic field measurement system includes a magnetometer having at least one vapor cell, at least one light source to direct at least two light beams through the vapor cell(s), and at least one detector; at least one magnetic field generator to modify an external magnetic field experienced by the vapor cell(s); and at least one processor configured for: applying a first modulation pattern, bmod(t), to the magnetic field generator(s) to modulate a magnetic field at the vapor cell(s), where bmod(t)=[cx cos(ωt)+sx sin(ωt), cy cos(ωt)+sy sin(ωt), cz cos(ωt)+sz sin(ωt)], where cx, sx, cy, sy, cz, and sz are amplitudes and ω is a frequency; directing the light source(s) to direct the light beams through the vapor cell(s); receiving signals from the detector(s); and determining three orthogonal components of the external magnetic field using the received signals. Multi-frequency modulation patterns can alternatively be used.