3-D data optimization

I've recorded x,y,z coordinates of n points on a rigid body over a time containing certain error. I'd like to determine the position and orientation of the rigid body in space that uses an optimization utilizing data from all n points. Any notions of where I could start? I'm mostly wondering if there are any protocols already within mat lab that might allow me to do this.

Answer 1

[Matt J]

This might do what you need

http://www.mathworks.com/matlabcentral/fileexchange/26186-absolute-orientation-horn-s-method