A hybrid inertial measurement unit (IMU) comprises: a low frequency (LF) sensor providing a first signal containing information for a first parameter of the hybrid IMU; a shock resistant (SR) sensor providing a second signal containing information for the first parameter, wherein the SR sensor is resistant to destabilization during a destabilizing operational period; and a processor, wherein the processor further comprises: a weighting factor computation module to compute a weight to be applied to the first signal and to compute a weight to be applied to the second signal; a LF weighting module to apply the computed weight to the first signal to create a weighted first signal; a SR weighting module to apply the computed weight to the 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.