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Using Kalman Filter For Tracking Position And Orientation Of Imu

I'm applying the Kalman Filter to track position and orientation of a device which has Inertial Navigation Units (accelerometer and gyroscope). I'm not sure if I use acceleration as input (control process) or velocity or none of them. Can you help me?

And one of the propositions is that the velocity is constant (module).

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#1  
there are a billion steps between your question and a completed functioning robot demonstrating what ever capabilities you are imagining. What I mean is, the question is missing context:)