1. A system for measurement of spatial coordinates and/or orientation of a probe, comprising: a first spatial direction sensor associated with a pattern of targets with known positions relative to each other and to the first spatial direction sensor; said pattern of targets placed onto spatial direction sensor so that at least three targets are visible from any direction; a second spatial direction sensor; a probe with targets in known positions relative to each other; wherein at least three targets of the probe are in the field of view (FOV 1 ) of the first spatial direction sensor; and processing means for the computation of the orientation and/or spatial coordinates of the pattern of targets of the first spatial direction sensor relative to the second spatial direction sensor based on the observation of at least three targets on the first spatial direction sensor by the second spatial direction sensor; the known positions of the targets of the first spatial direction sensor relative to each other and to the first spatial direction sensor; and a determination of the spatial directions of the targets observed on the first spatial direction sensor with respect to the second spatial direction sensor; and the computation of the orientation and/or spatial coordinates of the pattern of targets of the probe relative to the first spatial direction sensor based on the observation of at least three targets of the probe by the first spatial direction sensor; the known positions of the targets of the probe relative to each other and to the probe; a determination of the spatial directions of the targets observed on the probe with respect to the first spatial direction sensor; and the computation of the orientation and/or spatial coordinates of the probe relative to the second spatial direction sensor based on the relative orientations and/or coordinates between the second spatial direction sensor, the first spatial direction sensor and the probe established in the preceding steps.