IMU Sensor integration for Speed of object and rotational speed of object

Using Arduino Project Guidance
1

Hi
I am using IMU MPU9150 Sensor and was successful integrating it with arduino. I am gonna enclose this in a spherical container like a bowling ball.

I am able to get the data of it using kalman filter of X,Y Z axis to generate Roll, Pitch, Yaw Values
I want to calculate the speed of this object and rotational speed of this object

Is it possible to calculate the altitude of the object without using barometric sensor as it enclosed inside.

The real question is how do I calculate the speed of moving object and rotational speed of object using IMU alone if needed I can use GPS sensor if mandatory
And also detect when there is hard impact to object ????

2

This will require double integration (acceleration -> speed -> position) and suffer even from small offsets. You can find out yourself...

3

I got the idea but how do i how convert each of these data into these subsets of acceleration to speed to position and existing libraries or reference videos or papers would help a lot.