plot 3d trajectory/path of my UAV without GPS

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I have a pixhawk flight controller. after a flight I collect the dataflash logs give it to a python script that gives me data like below

IMU sensor data

Now i just like to plot the approximate trajectory/ path of my UAV during the flight in a 3d space. it can be python, matlab or anything. what is the method/ steps. a simple sample that looks like what i am trying to acheive is youtube link

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