Hello all ,
i'm using an MPU-6050 sensor and i want the equations describing the gyroscope and the accelerometer ... so that i can implement them using kalman filter to predict the velocity and the acceleration
any help will be very appreciated
NB : the project is about localisation
thanks 
Reading the datasheet is an acquired skill. There's pages and pages of stuff that's simply irrelevant, like pictures of the box that the reel comes in.
But the answers you seek are in there. Keep looking.
With such an IMU you can easily determine the attitude (roll, pitch, yaw requires magnetometers) of a vehicle. For the velocity I'm not sure this will give you accurate results...
Anyway, as MorganS said, the datasheet will give you what you want, especially how to read raw data and how to interpret them.