Combine GPS and Acceleremeter Data in embdeed system

We are designing a datalogging system using PIC32 Processors. Hardware is all taken care of, what we need is s software module/method/function/library that will take GPS positioning data and acceleroemter/digital compass data to give accurate locationing over time. Even with minor signal losses of GPS... Something like a Kalman filter? The objective is a datalogger that can be fitted to a racecar and track its location as it moves around a race track, with higher accuracy than just GPS position alone (hence combining 3 axis accelerometer data). Please have a look at race-technology DL1 (google search) for a better idea of what we are after. We will handle everything else, hardware etc etc, just this main software module we are after. It may be best to 'run' this module every 20ms, to give an accurate position and velocity data 50x second, so we can call this function every 50ms using a timer interrupt, and also you can gather your time base from the time it is called, and we can pass the accelerometers data in all planes (X,Y,Z) as well as the last received GPS frame, which of course may not change every 20ms. Nois filtering also need be considered, to smooth out errors. This video shows Race Technologies approach, and what we are after: [login to view URL] We work with MikroC, so suitable for that, or just general C would suffice. PIC32 device is the target processor so bare that in mind. Testing in detail can be carried out by us, or yourself if you have a suitable test rig.