The technology provides for a system for determining wireless charging alignment. In this regard, one or more processors may receive motion data from one or more sensors of a computing device indicating a motion of the computing device. The one or more processors may also receive charging data related to a state of an energy storage of the computing device or a state of energy transfer between a wireless charger and the computing device. Based on the motion data and the charging data, a reference vector associated with at least two charging rates may be determined. An alignment vector between the computing device and the wireless charger may then be determined based on the reference vector and the associated charging rates. Based on the alignment vector, an output may be generated guiding movement of the computing device to align with the wireless charger.