I am working on a robot tracking application, where our main tool (a camera) for locating the x & y position of the robot is working on a quite low frequency. Therefore, I am looking for ways to intermediately track the position of the robot without directly measuring it.
The robot has a built in accelerometer, gyroscope and magnetometer. I know that I can double-integrate the acceleration measurements to get a (very noisy) estimate of my current position. I also can use gyroscope and magnetometer to track the pose of the robot (which I am not primarily interested in).
Is there anything else I could do to improve the position estimate given those three sensors, besides double-integration of acceleration?