A method and system method for determining motion of a downhole tool and feeding back drilling performance. The method may comprise taking a synchronous tool face measurement of the downhole tool, taking a synchronous pulse-echo acquisition to estimate a shape of a borehole, inputting at least the shape of the borehole, the center trajectory of the downhole tool, the rotational time of the downhole tool, the position of the downhole tool, and the one or more measurements of the downhole tool into an information fusion for drilling dynamics, identifying at least one of a whirl, a vibration, or a stick-slip of the downhole tool, and identifying one or more borehole condition and a drilling efficiency. A system may comprise a downhole tool, at least two transducers, and an information handling system.