Abstract: A system and a method are disclosed for tracking a position of a body. The system and method including the steps of receiving combined movement data, the combined movement data including first movement data of the body and second movement data of an object connected to the body, wherein the second movement data is data of a movement occurring relative to the body; transforming the first movement data using a first transformation technique; transforming the second movement data using a second transformation technique that is different than the first transformation technique; determining a velocity estimation bias of the body based on a combination of the transformed first movement data and the transformed second movement data; and generating a velocity estimation of the body with the determined velocity estimation bias of the body.