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