A system, a method and an apparatus for autonomous monitoring, detecting and tracking of movement and orientation of a body or portion of a body. The apparatus comprises a device configured to monitor the translational and/or rotational movement of the body; and an altimeter configured to measure changes in height of the body. An alert condition is determined based on the translational and/or rotational movement of the body and changes in height of the body or portion of the body. The alert condition may comprise a hard fall event, a soft fall event, a susceptibility to a fall, or a near fall event.