Again, I have assumed that the question refers to turning, as the V5 inertial sensor is not at all usable for position tracking.
@DrewWHOOP 3 wheel odometry is not at all “easy” and requires understanding of trigonometry in addition to geometry.
@5278C If you plan on implementing three-wheel odometry, as explained here, do understand that it will be fairly difficult especially if you are not familiar with the mathematics or motion algorithms. Like @Midas3217m mentioned, it’s much easier and mostly as accurate to use the inertial sensor for turning and internal motor encoders to track distance. This is probably your best bet unless you have the knowledge, time, and energy to implement position tracking on your own. 