1. A method of performing geolocation, the method comprising: detecting, with one or more receivers, magnetic field signals generated by one or more transmitters, with each transmitter comprising two or more co-located coils that are electrically unstable and unbalanced, and that have a mechanically stable orientation with respect to one another; decomposing the magnetic field signals from each of the two or more co-located coils of each of the two or more transmitters into individual magnetic field components; calculating, from the individual magnetic field components, a set of invariant scalar values that are independent of orientation of one or more magnetic antennas associated with the one or more receivers; and using the set of invariant scalar values, determining the position of an object.