Localization using IMU

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Hi all, I am looking to use IMU sensor to locate my robot.

I found a lot of answers, and I know that there is a problem of drift when using only one sensor for localization. But I want to try now with only one sensor which is IMU. So, I tried these equations in my code:

dt=  self.t1 - self.t0
self.ax1=data.linear_acceleration.x
self.ay1=data.linear_acceleration.y
self.speedx = dt*(self.ax1) # get speed from acceleration according to x
self.speedy = dt*(self.ay1)  # get speed from acceleration according to y
speed=np.sqrt(( self.speedx * self.speedx)+( self.speedy * self.speedy)) # get speed
 # I am using a custom message i.e. the orientation.z is the yaw angle (Euler Angle) in the following equations
self.posx=self.posx+ speed * dt* math.cos(math.radians(data.orientation.z))
self.posy=self.posy+ speed * dt* math.sin(math.radians(data.orientation.z))

I want to know if my method is correct with anyone who has tried this before?

PS: I am using a custom message i.e. the orientation.z is the yaw angle (Euler Angle)

Thank you.