Method and device for contactless sensing rotation and angular position using orientation tracking. 2.1 To improve the accuracy and possible resolution of a magnetic positioning system, a method and a device using a special tracking technique is proposed. 2.2 The method and the device are using multiple magnetic field sensing elements at different positions below a magnetic target. The sensed signals are used to select or combine the sensing elements for a best approach to the actual orientation of the magnet. This allows putting out the related orientation of the approach as a coarse value and the remaining displacement as a fine value. 2.3 A device using this method allows highly accurate measurement of angular positions controlling or tolerating the placement of a magnet as the input source.