Position Tracking

I am wondering how to do position tracking with an inertia sensor. I have seen many other teams using odometry for position tracking however I do not know enough math to do it yet. I have a x-drive chassis if that helps

Inertial sensor odometry works by tracking local x and y change in position thought the use of 2 perpendicular tracking wheels. The change is the local x and y is then changed into change in global x and y using a conversion vector matrix thing.

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