Nitrogen-vacancy (NV) centers in nanodiamonds have emerged as a promising quantum sensing platform for biomedical imaging applications, yet random orientations of individual particles present signi cant challenges in large-scale sensor calibration. In this study, we demonstrate a novel approach to simultaneously determine each particle’s crystallographic axes and the surrounding local vector magnetic eld. Speci cally, a minimum of four distinct bias elds is required to unambiguously extract both the orientation and the local eld. We validate our method experimentally using NV centers in two scenarios: (1) in a bulk diamond with known crystal orientation as a proof of concept, and (2) on various single nanodiamonds to mimic real-world applications. Our work represents a crucial step towards unlocking the full potential of nanodiamonds for advanced applications such as in-situ biomedical imaging and nanoscale sensing in complex environments.