Combining (accelerometer with gyro) data to calculate [position + velocity]

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Hi all

I have a bag of data collected from accelerometer and gyro.Specifically, they are:

Acclerometer------>Linear acceleration in (x,y,z) direction: ax,ay,az

Gyro------------------>Angular acceleration around (x,y,z) direction: Ox, Oy, Oz.

The problem is that I will need to publish the "/odom" using these data at hands. As we know, /odom will need the [position, velocity, orientation] information. And we must calculate these using the bag of data we have from acclerometer and gyro sensors.

The question is that, is there a way for me to calculate or estimate [position, velocity, orientation] using data from acclerometer and gyro sensors?