Abstract: A drill sensor system of a drilling system and method for generating navigation data for the drilling system uses both a radar sensor and a magnetometer disposed in and/or coupled to a drill rod assembly having a drill head configured to drill a hole beneath a surface. The radar sensor emits an electromagnetic wave and obtains an echo of the electromagnetic wave in order to generate radar data representative of one or more objects beneath the surface. The magnetometer sensor generates magnetometer data representative of an orientation of the magnetometer sensor relative to a magnetic field. The radar data and magnetometer data can be used to generate images for navigating the drill rod assembly during drilling of the hole.