BerryImu orientation and positioning

hi all,
I have a query regarding IMU which i am using currently.
This is the imu i am using, i need this imu to fuse it with gps for vehicle tracking using 3D extended kalman filter.
Now for filter i need input values from imu that is yaw, roll, pitch, x, y, z axis.
I have figured out yaw roll and pitch, Now my concern and confusing point is how to get x y z axis of imu, i have read so many articles and forums where all are explaining different things like use AHRS.
Will it be good option if i use AHRS algo for positioning plus euler angles or there is some other way or calculation i can find it out?

submitted by /u/Mus_007
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