position,velocity and attitude library

hi all,

I need to library that calculated position , velocity and attitude using IMU 9 dof (mpu6050 and hmc 5883L)
please
I want to build navigation system

You can't accurately estimate position and velocity for any useful length of time using consumer-grade IMUs, but for attitude, see this library.

thanks jremington ,
why I can not ??

Basically, they are too inaccurate and noisy. See this explanation (beware of some numerical errors in the table) http://www.chrobotics.com/library/accel-position-velocity

jremington , if we use gps with this imu (mpu 6050 and hmc5883l) can i estimate velocity and position .

The GPS will give velocity and position.