Can IMU provide geodetic frame? if possible How??

edit

I am trying to initialize the frame of my SLAM algorithm regarding geodetic frame soothhatat i t t outputs coordinates regarding geo-frame? i.e, frame with the x-axis pointing towards north, the z-axis orthogonal to the reference ellipsoid pointing up, and the y-axis completing a right-handed orthogonal frame. I am using 3DM®CV5-IMU from microstrain. t features a fully calibrated and temperature compensated triaxial accelerometer and gyroscope to achieve the optimum combination of measurement qualities under all dynamic conditions. Also the a manometer which publishes change in heading but not w.r.t North! does anybody explain to me, if it's possible to that? How can I retrieve the the heading regarding the poles??