A navigation system, comprising: an instrument (1900; 2040; 2050) extending along a longitudinal axis; a tracking device (1992; 1994) positioned on the instrument, including: a first length of wire wrapped around the instrument for a selected number of turns extending along the longitudinal axis and having a first wrap axis that is non-normal to the longitudinal axis, and a second length of wire wrapped around the instrument for a selected number of turns extending along the longitudinal axis and having a second wrap axis that is non-normal to the longitudinal axis and different from the first wrap axis; a localizer emitting an electromagnetic field operable to be sensed by the tracking device, wherein the first wrap axis forms a first navigation vector and the second wrap axis forms a second navigation vector; characterised by a processing system operable to determine a specific location of a selected portion and a rotational orientation of the selected portion of the instrument about the longitudinal axis for display on a display device; and a display device operable to display an instrument icon of the instrument including the selected portion of the instrument, the selected portion extending at only a single angle or direction relative to the instrument; wherein the instrument is a biopsy needle, the selected portion of the instrument includes a biopsy window, and the display device illustrates a biopsy cone icon to illustrate at least a direction of the biopsy window relative to the longitudinal axis, or wherein the instrument is a catheter and the selected portion of the instrument is an opening, the opening extending in only a single direction from the catheter, wherein an icon representing the location of the opening is displayed on the display device, or wherein the instrument is a catheter and the selected portion of the instrument is an ablation or sensing portion, wherein a three-dimensional location of the ablation or sensing portion can be illustrated on the display device. an instrument (1900; 2040; 2050) extending along a longitudinal axis; a tracking device (1992; 1994) positioned on the instrument, including: a first length of wire wrapped around the instrument for a selected number of turns extending along the longitudinal axis and having a first wrap axis that is non-normal to the longitudinal axis, and a second length of wire wrapped around the instrument for a selected number of turns extending along the longitudinal axis and having a second wrap axis that is non-normal to the longitudinal axis and different from the first wrap axis; a first length of wire wrapped around the instrument for a selected number of turns extending along the longitudinal axis and having a first wrap axis that is non-normal to the longitudinal axis, and a second length of wire wrapped around the instrument for a selected number of turns extending along the longitudinal axis and having a second wrap axis that is non-normal to the longitudinal axis and different from the first wrap axis; a localizer emitting an electromagnetic field operable to be sensed by the tracking device, wherein the first wrap axis forms a first navigation vector and the second wrap axis forms a second navigation vector; characterised by a processing system operable to determine a specific location of a selected portion and a rotational orientation of the selected portion of the instrument about the longitudinal axis for display on a display device; and a display device operable to display an instrument icon of the instrument including the selected portion of the instrument, the selected portion extending at only a single angle or direction relative to the instrument; wherein the instrument is a biopsy needle, the selected portion of the instrument includes a biopsy window, and the display device illustrates a biopsy cone icon to illustrate at least a direction of the biopsy window relative to the longitudinal axis, or wherein the instrument is a catheter and the selected portion of the instrument is an opening, the opening extending in only a single direction from the catheter, wherein an icon representing the location of the opening is displayed on the display device, or wherein the instrument is a catheter and the selected portion of the instrument is an ablation or sensing portion, wherein a three-dimensional location of the ablation or sensing portion can be illustrated on the display device.