Consumer grade IMUs are of no use for inertial navigation, so the best a hobbyist can do is use the GPS measurements. For accurate localization, RTK-GPS units are available, but you will need either a GPS-RTK base station or access to a commericial source of correction information, valid for your locality.
That is a consumer grade IMU. It is fine for orientation, but will not work for inertial navigation. In fact, the BNO055 works much more poorly than more modern sensors, even for orientation.