Abstract: The invention provides methods and systems for determining the position of a remote object such as an in vivo medical device such as capsule or probe within a medical patient. The systems and methods of the invention may also be used in other enclosed environments such as fluid handling or mechanical systems. The systems and methods of the invention use one or more external magnetic sensor arrays for sensing the magnetic field of a remote object within a target area. The position of the object is determined by applying magnetic field spatial geometry characterization point analysis to evaluate the sensed magnetic field.