Integration of GPS with Inertial System is Not working properly. Can anyone help me out????

Hi, I was trying to integrate GPS with inertial navigation system using mobile sensor data with the help of matlab mobile. But the problem is the real trajectory is not coming at the output and it was hard for me to find the solution.

Please kindly help me out to find the problem and to solve it. I know many experts are there in simulink so only i seeking your help to solve the problem. Help me out with solutions.