Draw 3d trajectory of my UAV flight without using GPS

hi. How can i draw the trajectory of my UAV flight in 3d space without using GPS and may be using the Dataflash logs of my flight controller that contains imu data ( accelerometer, gyroscope and magnetometer) and yaw pitch roll values. something like https://www.youtube.com/watch?v=p6JYP5WzFY4 . what is the process or guide for this process or simply if someone can explain what is happening in the vedio.

[John D'Errico]

Why not try it? Answers is not here as a code providing service.

You have acceleration data, etc. So all you need to do is integrate, get velocity, then position as a function of time, and therefore a path through space.

If you then have problem, then ask aquestion, showing what you are doing. Otherwise, this is just a doit4me.