A system is disclosed for remotely determining 6 degree of freedom of an object. Four or more radiating beacons are placed on an object, the beacons each simultaneously radiating a synchronized repeating code, the code being different for each beacon. A position sensor, such as a quadrant detector, receives the light signals from the beacons, and correlates the received beacon signals against the same signal sequences produced in the receiver. With orientation of the beacons on the object being known, and orientation of the quadrant detector, or receiver, being known, roll, pitch, yaw, and X, Y and Z position in a coordinate space of the object can be determined.