1. A method for determining tracking a motion-sensing device in six degrees of freedom, the method comprising: receiving sensor data sequentially from inertial sensors in the motion-sensing device; estimating three relative angular and three relative translational motions of the motion-sensing device from the sensor data; and correcting the three relative angular and three relative translational motions of the motion-sensing device to derive a relative motion path of the motion-sensing device, wherein said correcting the relative three angular and three translational motions of the motion-sensing device comprises: detecting when any of the sensor data has been maxed out because of the motion-sensing device being moved beyond limits of the inertial sensors; estimating overflow values for a portion of the sensor data that has been maxed out; and replacing the portion of the sensor data that has been maxed out with the overflow values.