title: How to determine relative position using accelerometer and gyro data
body: <p>I am designing a robot, and need to track the distance and direction of the robot motion, Nothing in 3D, I only need x,y and angle in x y plane.</p>
  
  <p>My question :</p>
  
  <ol>
  <li>Is it possible to use gyro and accelerometer with kalman filtering or any other methods to
  track this? (I do not have motor encoders)</li>
  </ol>
  
  <p>My constraints : I do not have space to include a gps (due to power requirements)
   or motor encoders (due to motor support) </p>