A method is provided for selectively enabling inertial measurement unit (IMU) sensors. The method comprises enabling a gyroscope of the IMU sensors for generating a device orientation output estimate, selectively enabling an accelerometer of the IMU sensors for improving the device orientation output estimate when a magnitude of an angular velocity is less than a centripetal velocity threshold, an accelerometer jitter error estimate is less than a gyroscopic orientation error estimate, a filled accelerometer filter length is less than a full length of an accelerometer filter, and a filled magnetometer filter length is less than a full length of a magnetometer filter. The method also includes enabling a magnetometer of the IMU sensors when the accelerometer is enabled, and an accelerometer gravitational error angle is less than a predetermined accelerometer gravitational error angle threshold.