It looks pretty awesome. For the fusion you could use the [robot_localization](
http://wiki.ros.org/robot_localization) package.
[Here](
http://docs.ros.org/kinetic/api/robot_localization/html/) you have the link for the API. The point of this algorithm is that it can fuses a NavSatFix message and a IMU message (also odometry message can be used).
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