Systems, methods, and computer program products implementing a sensor data prediction algorithm are disclosed. An example method comprises receiving motion data representing motions of a head-mounted listening device; transforming the motion data into quaternion domain; predicting, by one or more processors, future motions of the head-mounted listening device, the predicting including creating angular acceleration data from the transformed motion data and applying one or more smoothing filters to the angular acceleration data, the predicted future motions including rotation angles around corresponding axes in the quaternion domain; and providing the predicted future motions of the head-mounted listening device to a processor for adjusting a sound field presented by the listening device such that the sound field follows predicted movements of the head-mounted listening device.