mpu-9250 algorithm for distance and orientation

Hello,

I have using MPU-9250.I can properly communicate with it.I have searched many thing related to KALAMAN FILTER and so on.

But i could not get proper way to use 9-axis sensor.

Please,tell me the steps or algorithm to get all raw-data value to convert distance and orientation(latitude-longitude) value.

Waiting for relpy,

Thanks,

Kishan Patel.