A portable sensor device is provided. The portable sensor device may at least include a first angular rate sensor, a second angular rate sensor, and a gyroscope. The first angular rate sensor may include two or more accelerometers, whereas the second angular rate sensor may include an accelerometer and a magnetometer. In some instances, the portable sensor device may determine when to use the first angular rate sensor, when to use the second angular rate sensor, and when to use the gyroscope to obtain angular rate measurements indicative of angular motion of the portable sensor device. Further, the portable sensor device may determine one or more angular motion parameters describing angular motion of the portable sensor device using data from the first angular rate sensor, the second angular rate sensor, the gyroscope, or combinations of the first angular rate sensor, the second angular rate sensor, and/or the gyroscope.