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I will try using Kalman filter also I think it will be complicated. I considered the yaw because my model is for a car with yaw

    Velocity_x= Velocity_old_x+acceleration_x*dt;
    Displacement_x += Velocity_x*dt;


    x_pos = (Displacement_x * cos(yaw));
    y_pos =  (Displacement_x * sin(yaw));

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