A performance arena system, comprising: an arena space, that comprises a performance surface, a coded strip which extends around at least a portion of one or more lateral sides of the arena space above the performance surface, said coded strip comprising a sequence of code marks beginning at a starting position, wherein portions of the sequence of code marks at any specific position adjacent to the arena space in relation to the starting position are unique to such specific position and wherein the sequence of code marks includes a non-repeating sequence of blocks (54, 55, 56, 57) at intervals along a code center line, that includes dark blocks (54, 56) interspersed with light blocks (55, 57), wherein some of the dark (54, 56) and light blocks (55, 57) are positioned above the code center line, and wherein some others of the dark (54, 56) and light blocks (55, 57) are positioned below the code center line,a positioning device positioned in the arena space that includes a digital camera with an optical axis extending laterally in the arena space for acquiring an image comprising one or more of the portions of the sequence of marks; and a processor programmed to generate signals that are indicative of the position and the orientation of the positioning device in the arena space based on the portion or portions of the sequence of marks in the image being the system characterized in that some of the intervals of the non-repeating sequence of blocks (54, 55, 56, 57) have a dark block (54, 56) above the code center line and a light block (55, 57) below the code center line and others of the intervals have a light block (55, 57) above the code center line and a dark block (54, 56) below the code center line such that transitions of light blocks (55, 57) to dark blocks (54, 56) above the code center line align with transitions of dark blocks (54, 56) to light blocks (55, 57) below the code center line, and such that transitions of dark blocks (54, 56) to light blocks (55, 57) above the code center line align with transitions of light blocks (55, 57) to dark blocks (54, 56) below the code center line, wherein intersecting corners of dark blocks (54, 56) above the code center line with corners of dark blocks (54, 56) below the code center line form feature points on the code center line, and wherein the processor is programmed to identify the code center line in the image of a portion of the coded strip by the feature points formed by the intersecting corners of dark blocks (54, 56) above the code center line with corners of dark blocks (54, 56) below the code center line. an arena space, that comprises a performance surface, a coded strip which extends around at least a portion of one or more lateral sides of the arena space above the performance surface, said coded strip comprising a sequence of code marks beginning at a starting position, wherein portions of the sequence of code marks at any specific position adjacent to the arena space in relation to the starting position are unique to such specific position and wherein the sequence of code marks includes a non-repeating sequence of blocks (54, 55, 56, 57) at intervals along a code center line, that includes dark blocks (54, 56) interspersed with light blocks (55, 57), wherein some of the dark (54, 56) and light blocks (55, 57) are positioned above the code center line, and wherein some others of the dark (54, 56) and light blocks (55, 57) are positioned below the code center line,a positioning device positioned in the arena space that includes a digital camera with an optical axis extending laterally in the arena space for acquiring an image comprising one or more of the portions of the sequence of marks; and a processor programmed to generate signals that are indicative of the position and the orientation of the positioning device in the arena space based on the portion or portions of the sequence of marks in the image being the system characterized in that some of the intervals of the non-repeating sequence of blocks (54, 55, 56, 57) have a dark block (54, 56) above the code center line and a light block (55, 57) below the code center line and others of the intervals have a light block (55, 57) above the code center line and a dark block (54, 56) below the code center line such that transitions of light blocks (55, 57) to dark blocks (54, 56) above the code center line align with transitions of dark blocks (54, 56) to light blocks (55, 57) below the code center line, and such that transitions of dark blocks (54, 56) to light blocks (55, 57) above the code center line align with transitions of light blocks (55, 57) to dark blocks (54, 56) below the code center line, wherein intersecting corners of dark blocks (54, 56) above the code center line with corners of dark blocks (54, 56) below the code center line form feature points on the code center line, and wherein the processor is programmed to identify the code center line in the image of a portion of the coded strip by the feature points formed by the intersecting corners of dark blocks (54, 56) above the code center line with corners of dark blocks (54, 56) below the code center line.