Ts=.008;
WIN=.5;
ORD=3;
truncate = floor(WIN/Ts/2);

% Do the x position -> velocity
[x_f, vx] = polyreg(x,t,Ts,WIN,ORD);
% Do the x position
[y_f, vy] = polyreg(y,t,Ts,WIN,ORD);
% Do the z position
[z_f, vz] = polyreg(z,t,Ts,WIN,ORD);

% recalculate a new range of t, because the xd is shorter than x by
% floor(WIN/Ts/2)
% remove from the beginning and the end
td = t(truncate+1:length(t)-truncate);

% velocity -> acceleration
[vx_f, ax] = polyreg(vx',td,Ts,WIN,ORD);
[vy_f, ay] = polyreg(vy',td,Ts,WIN,ORD);
[vz_f, az] = polyreg(vz',td,Ts,WIN,ORD);

% further truncation we lost data above.
tdd = td(truncate+1:length(td)-truncate);

omega1=omega1(truncate+1:length(td)-truncate);
omega2=omega2(truncate+1:length(td)-truncate);
omega3=omega3(truncate+1:length(td)-truncate);
omega4=omega4(truncate+1:length(td)-truncate);