Abstract: The invention relates to systems and methods for performing pen position triangulation for handwriting capture on forms. In one example, a system includes a base body configured to be placed over a form. The base body includes at least one receiver for receiving a multilateration signal from an emitter located on a writing utensil. A processor performs multilateration (e.g., triangulation) to determine a relative position of the writing utensil's emitter. A memory stores the relative position of the emitter. A detector detects an orientation identifier and/or form identifier located on the form. The orientation identifier and/or form identifier are used to determine an absolute position of the emitter with respect to the form.