Methods and systems for a portable metrology device are described. One embodiment of the present invention is an apparatus including a first link, a first probe coupled with the first link by a first coupling operable to move in a first degree of freedom, a second probe coupled with the first link by a second coupling operable to move in a second degree of freedom, a first sensor operable to output a first sensor signal associated with a motion of the first coupling, and a second sensor operable to output a second sensor signal associated with a motion of the second coupling. The embodiment also includes a processor in communication with the first and second sensors and operable to: receive the first sensor signal and the second sensor signal, and determine a distance between the first probe and the second probe based at least in part on the first sensor signal and the second sensor signal.