Today, the ability to track the orientation or position of a device is a common feature in many portable and wearable products. Computing the orientation is a non-trivial task that converts inputs from multiple motion sensors into accurate position information. This computation is called sensor fusion and it eliminates inaccuracies from noisy sensor inputs. This paper shows how to implement a power-efficient 9D fusion algorithm on an IP subsystem: a processor core that is augmented with hardware accelerators. This implementation makes it applicable in products that require low energy consumption.