How can i draw a movement relative to the room with orientation and acceleration relative to Sensor reference system?

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Andrea Gusmara 2020-9-7

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https://ww2.mathworks.cn/matlabcentral/answers/590155-how-can-i-draw-a-movement-relative-to-the-room-with-orientation-and-acceleration-relative-to-sensor

I have the relative , to first sample , orientation data for each sample , orientation expressed in quaternion . And the relative 3-axis acceleration respect to the sensor reference system. Can you give me some tips on how I can get the position relative to the room in order to draw the displacement.