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