1. An optical navigation system for determining at least one parameter of a pose of an object in an environment, said optical navigation system comprising: a) a plurality of beacons at predetermined locations in said environment for providing an electromagnetic radiation in a sequenced pattern; b) an on-board optic for imaging said electromagnetic radiation onto an on-board centroid sensing device for determining a centroid of an imaged distribution of said electromagnetic radiation; c) a navigation unit for determining said at least one parameter of said pose from said centroid.