A hybrid inertial measurement unit, IMU, the hybrid IMU comprising: at least one low frequency sensor providing at least one first signal containing information for a first parameter of the hybrid IMU; at least one shock resistant sensor providing at least one second signal containing information for the first parameter of the hybrid IMU, wherein the at least one shock resistant sensor is resistant to destabilization during a destabilizing operational period, and wherein the at least one shock resistant sensor operates at a higher frequency than the at least one low frequency sensor; and at least one processor, wherein the at least one processor further comprises: a weighting factor computation module to compute a weight to be applied to the at least one first signal and to compute a weight to be applied to the at least one second signal; a low frequency weighting module to apply the computed weight to the at least one first signal to create a weighted first signal; a shock resistant weighting module to apply the computed weight to the at least one second signal to create a weighted second signal; and a compensator to combine the weighted first signal and the weighted second signal to create a compensated signal containing information for the first parameter of the hybrid IMU, and to output the compensated signal containing information for the first parameter of the hybrid IMU. at least one low frequency sensor providing at least one first signal containing information for a first parameter of the hybrid IMU; at least one shock resistant sensor providing at least one second signal containing information for the first parameter of the hybrid IMU, wherein the at least one shock resistant sensor is resistant to destabilization during a destabilizing operational period, and wherein the at least one shock resistant sensor operates at a higher frequency than the at least one low frequency sensor; and at least one processor, wherein the at least one processor further comprises: a weighting factor computation module to compute a weight to be applied to the at least one first signal and to compute a weight to be applied to the at least one second signal; a low frequency weighting module to apply the computed weight to the at least one first signal to create a weighted first signal; a shock resistant weighting module to apply the computed weight to the at least one second signal to create a weighted second signal; and a compensator to combine the weighted first signal and the weighted second signal to create a compensated signal containing information for the first parameter of the hybrid IMU, and to output the compensated signal containing information for the first parameter of the hybrid IMU. a weighting factor computation module to compute a weight to be applied to the at least one first signal and to compute a weight to be applied to the at least one second signal; a low frequency weighting module to apply the computed weight to the at least one first signal to create a weighted first signal; a shock resistant weighting module to apply the computed weight to the at least one second signal to create a weighted second signal; and a compensator to combine the weighted first signal and the weighted second signal to create a compensated signal containing information for the first parameter of the hybrid IMU, and to output the compensated signal containing information for the first parameter of the hybrid IMU.