Can I use robot_localization package with only imu data? If I could,how to config the package?

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I want to fuse IMU and GPS data with robot_localization package used in an autonomous car, but there will have some time that I can't obtain the GPS data and IMU is the only source I can get to calculate position. I have a high precise IMU，but the error is huge when I use robot_localization without gps, so my question is can I use robot_localization package with only imu data.If I could,how to config the package correctly? Here is my launch file:

<launch>
  <node pkg="tf2_ros" type="static_transform_publisher" name="bl_imu" args="0 0 0 0 0 0 1 base_link imu_link" />
  <node pkg="tf2_ros" type="static_transform_publisher" name="bl_gps" args="0 0 0 0 0 0 1 imu_link gps_link"/>
  <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization_global" clear_params="true">
    <param name="frequency" value="30"/>
    <param name="sensor_timeout" value="2"/>
    <!--param name="map_frame" value="map"/-->
    <param name="odom_frame" value="odom"/>
    <param name="base_link_frame" value=" base_link"/>
    <param name="world_frame" value="odom"/>
    <param name="imu0" value="/imuData"/>
    <rosparam param="imu0_config">[false, false, false,
                                   true,  true,  true,
                                   false, false, false,
                                   true, true, true,
                                   true,  true,  true]</rosparam>
    <param name="imu0_differential" value="true"/>
    <param name="imu0_remove_gravitational_acceleration" value="true"/>
    <param name="two_d_mode" value="true"/>
    <param name="odom0" value="/odometry/gps"/>
    <rosparam param="odom0_config">[true,  true,  true,
                                   false, false, false,
                                   false, false, false,
                                   false, false, false,
                                   false, false, false]</rosparam>
  </node>
  <node pkg="robot_localization" type="navsat_transform_node"
      name="navsat_transform_node"  respawn="true" output="screen">
    <param name="magnetic_declination_radians" value="0.157"/>
    <param name="yaw_offset" value="1.570796327"/>
    <remap from="/imu/data" to="/imuData"/>
    <remap from="/gps/fix" to="/gpsData"/>
  </node>
  <node pkg="rviz" type="rviz" name="rviz_imu_gps_fuse" output="screen" args="-d $(find robot_localization)/robot_localization.rviz"/>
</launch>