A method of drilling boreholes is provided. The method, according to one embodiment, may include drilling a borehole, transmitting a signal into the earth formation, receiving signals at least three spaced sensors responsive to the transmitted signals and estimating a path of the borehole using the signals received by the at least three sensors. In another aspect, the method may include drilling a borehole, transmitting signals into the earth formation from at least three spaced transmitters, receiving signals at least one sensor responsive to the transmitted signals and estimating a path of the borehole using the signals received by the at least one sensor.