What Should be the Input of IMU sensor data to plot IMU+GPS fusion

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Yash Mogannavar
Yash Mogannavar 2020-4-15
编辑： Yash Mogannavar 2020-4-18
I took reay-made code of IMU GPS Fusion for INS .and added | kinematicTrajectory | function to my process imu data as given...
traj = kinematicTrajectory('SampleRate', imuFs);
[positionNED, orientationNED, velNED, accNED, angVelNED] = traj(accBody,angVelBody);
and gave GPS values (output of my GPS sensor).
But the output is going straight down (in z direction only). I even tried to take different data from online to try those but i'm having the same problem.
Help me with the pre-processing of the data. or what should be the input data for kinamatic trajectory?

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