An apparatus for determining a position of a vehicle, the apparatus comprising: a base unit comprising plurality of receive coils, the plurality of coils forming a substantially isotropic magnetic field sensor, each of the plurality of receive coils configured to generate a respective voltage signal from a wireless magnetic field generated by a field generator in an electric vehicle; and a processor configured to perform a two-operation process comprised of a first operation process that is an orientation-independent position finding process and a second operation process that is a joint position and orientation finding process, the first operation comprising: reducing a first set of data indicative of the respective voltage signals generated by the plurality receive coils to a second set of data that is substantially constant regardless of relative rotation between the plurality of receive coils and the field generator, determining a plurality of candidate positions based on comparing the second set of data to a plurality of first sets of stored data mapped to stored positions of the vehicle relative to the field generator; and the second operation comprising: identifying a plurality of second sets of stored data using the determined plurality of candidate positions, wherein the plurality of second sets of stored data are mapped to stored positions and orientations of the vehicle relative to the field generator, and determining a position and an orientation of the field generator of the vehicle with respect to the magnetic field sensor based on comparing the first set of data with the plurality of second sets of stored data. a base unit comprising plurality of receive coils, the plurality of coils forming a substantially isotropic magnetic field sensor, each of the plurality of receive coils configured to generate a respective voltage signal from a wireless magnetic field generated by a field generator in an electric vehicle; and a processor configured to perform a two-operation process comprised of a first operation process that is an orientation-independent position finding process and a second operation process that is a joint position and orientation finding process, the first operation comprising: reducing a first set of data indicative of the respective voltage signals generated by the plurality receive coils to a second set of data that is substantially constant regardless of relative rotation between the plurality of receive coils and the field generator, determining a plurality of candidate positions based on comparing the second set of data to a plurality of first sets of stored data mapped to stored positions of the vehicle relative to the field generator; and the second operation comprising: identifying a plurality of second sets of stored data using the determined plurality of candidate positions, wherein the plurality of second sets of stored data are mapped to stored positions and orientations of the vehicle relative to the field generator, and determining a position and an orientation of the field generator of the vehicle with respect to the magnetic field sensor based on comparing the first set of data with the plurality of second sets of stored data. reducing a first set of data indicative of the respective voltage signals generated by the plurality receive coils to a second set of data that is substantially constant regardless of relative rotation between the plurality of receive coils and the field generator, determining a plurality of candidate positions based on comparing the second set of data to a plurality of first sets of stored data mapped to stored positions of the vehicle relative to the field generator; and the second operation comprising: identifying a plurality of second sets of stored data using the determined plurality of candidate positions, wherein the plurality of second sets of stored data are mapped to stored positions and orientations of the vehicle relative to the field generator, and determining a position and an orientation of the field generator of the vehicle with respect to the magnetic field sensor based on comparing the first set of data with the plurality of second sets of stored data. identifying a plurality of second sets of stored data using the determined plurality of candidate positions, wherein the plurality of second sets of stored data are mapped to stored positions and orientations of the vehicle relative to the field generator, and determining a position and an orientation of the field generator of the vehicle with respect to the magnetic field sensor based on comparing the first set of data with the plurality of second sets of stored data.