of reference 26 to the tracking system 39 s frame of reference m 26 20 t by the positioning vector of the cart 39 s frame of reference 14 in the coordinates of the tracking system 39 s frame of reference 20 t 14 20 and adding that result to the positioning vector of the tracking system 39 s frame of reference 20 in the coordinates of the stationary frame of reference 26 t 20 26 that is third the positioning vector of point r in the stationary frame of reference 26 v r 26 is determined by multiplying the transpose of the matrix that converts coordinates from the stationary frame of reference 26 to the cart 39 s frame of reference 14 m 26 14 t by the positioning vector of point r in the coordinates of the cart 39 s frame of reference 14 v r 14 and adding that result to the positioning vector of the cart 39 s frame of reference 14 in the coordinates of the stationary frame of reference 26 t 14 26 that is finally calculation of the positioning vector of point r in the container 39 s frame of reference 30 v r 30 is performed by multiplying the difference between the positioning vector of point r in the stationary coordinate system 26 v r 26 and the.