Proposed and ground truth are opposite

[leozhangcattron]

Hi guys,
I tried this project with my own IMU, which is align X+: moving ahead, Y+ left, Z+ upward, the proposed trace is similiaer as the ground truth, but has mirror like, as the picture attached.
I tried some things, such as flipping this Gyro-Z upside down, but it blew up or didn't help.
I would be most grateful if anyone could provide some clues.
Thanks.