Fit points?

If I have a set of points which I've extracted from a sensor, and a modelled set of points that were measured manually, is there a way to fit the sensor points on to the model and extract the transformation?
(basically figure out where my sensor is in relation to the fixed points)

I've been using an extremely basic [Orient Direction] on just 2 of the points as a stop-gap measure while I worked on other parts of the definition, but given that I know the sensor data can be inaccurate, I'd like to average the error over more than just 2 points..

been struggling with how to tackle this for the past few days, if anyone has any ideas or if there's a plugin/solution I've overlooked, that'd be great.

PS. assume all points are 2d co-ordinates for now.