Magnetic position sensors, systems and methods are disclosed. In an embodiment, a position sensing system includes a magnetic field source with a dipole moment in a direction along a z-axis; and a sensor module spaced apart from a center of the dipole moment a distance y0 along a y-axis and spaced apart a distance z0 from a center of the dipole moment along a z-axis, at least one of the magnetic field source or the sensor module configured to move relative to the other along a path in the y=y0 plane, the sensor module configured to determine a relative position of the magnetic field source to the sensor module with respect to the path from a ratio of a gradient dBz/dx to a gradient dBz/dy, where Bz is a magnetic field component associated with the permanent magnet, and where an x-axis, the y-axis and the z-axis are at right angles.