A tracking system is provided for tracking objects. A first and a second trackable member each have an inertial sensor unit producing at least orientation-based data. A processing unit receives the orientation-based data from the trackable members. The processing unit has an orientation calculator calculating an orientation of the second trackable member with respect to the first trackable member from the orientation-based data of the trackable members, whereby the processing unit calculates an orientation of the objects. A method for tracking objects is also provided.
