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Good day... Sorry for bigner quesion, but really I need some friendly explanation rather than long reference I have 9 dof mpu9250 imu and gps. I found some source that calculate euler angle in ardunio How much euler angle help me in localization? Can I use the mpu9250 raw data for localization? If i fuse gps and imu what is the out put of filter? Can i determine x y z position using imu and gps?

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As an advice it's better to separate your questions and make them more precise.

In the end, if I understand correctly, your question is: how can the GPS and the IMU be used together for localization?

The IMU measures angles and angular speed but can be used as a position tracking sensor given that you know where the robot starts. You could use an extended Kalman filter to merge the sensor measurements.

I won't go in much more details because this questions has been asked before on this site and I think this answer is already an excellent read.

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