1. An apparatus for spatially tracking an object and determining the translations and rotations of said object, comprising: a radiation source; at least three sensor sets; wherein each sensor set comprises at least two sensors with overlapping, but distinguishable sensing ranges; wherein said sensors detect said radiation source; receiving means coupled to said sensor sets for receiving signals from said sensors; translation calculation means for determining the translations of said radiation source from the relative signals for said sensors within each of said sensor sets; rotational calculations means for determining rotations of said radiation source from the relative signals between said sensor sets; and wherein individual sensors are included to provide additional information on rotational changes and increase the range for rotational measurements.