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