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