find Speed using GPS latitude & longitude

Environment :
1. Linux, C++
2. UM7 Device contains (GPS latitude, longitude, Altitude, Accelerometer, Gyrometer).

I am getting below data using UM7 device fitted on moving vehicle :

    GPS latitude, longitude, Altitude.
      Accelerometer (x,y,z)
        Gyrometer (x,y,z)

        How can I calculate vehicle movements (left, right) using
        Latitude, Longitude & Altitude ,Accelerometer, Gyrometer data ?

        How can I calculate Speed ?

        Any suggestion / help is highly appreciated.
        sandy wareSoftware EngineerAsked:
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        The lat and long can give you your position BUT you will need a time in here someplace. The GPS info can give you that time.
        Paul SauvéRetiredCommented:
        once you have the distance between 2 coordinates, using the time difference that each coordinate was taken, you can calculate the average speed.

        V(elocity) = D(istance) / T(ime)

        Please Note: This article is written for users of the following Microsoft Excel versions: 2007, 2010, and 2013. If you are using an earlier version (Excel 2003 or earlier), this tip may not work for you. For a version of this tip written specifically for earlier versions of Excel, click here: Calculating the Distance between Points.

        Calculating the Distance between Points
        sandy wareSoftware EngineerAuthor Commented:
        thanks expert for your help.
        I am able to calculate velocity using :

        Any suggestion how can I calculate vehicle movements (left, right) using  Latitude, Longitude & Altitude ,Accelerometer, Gyrometer data ?
        Paul SauvéRetiredCommented:
        there are apps that exist for following vehicle movement from GPS data

        otherwise, i believe that the only way to do this is by plotting the GPS coordinates on a map by hand

        here is an Open Source app: OpenGTS™ - Open GPS Tracking System
        Customizable mapping service: OpenGTS comes with support for OpenLayers/OpenStreetMap in addition to support for Google Maps, Microsoft Virtual Earth, and Mapstraction (which provides mapping support for MultiMap, Map24, MapQuest, and more). Within the OpenGTS framework, other mapping service providers can also easily be integrated.

        Operating system independent: OpenGTS itself is written entirely in Java, using technologies such as Apache Tomcat for web service deployment, and MySQL for the datastore. As such, OpenGTS will run on any system which supports these technologies (including Linux, Mac OS X, FreeBSD, OpenBSD, Solaris, Windows XP, Windows Vista, Windows 20XX, and more).

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        Math / Science

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