The location and orientation of {HEAD ~ the device} relative to {TAIL ~ the origin} and initial orientation is derived based on the movement data 
The location and orientation of { HEAD ~ the device } relative to { TAIL ~ the origin } and initial orientation is derived based on the movement data
OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH