As I understand the PATHFINDER SW receiver uses IMU data internally, so it can output position candidates even though fewer than four satellites are in sight, right? And a low-cost IMU can meet the PATHFINDER requirements? What‘s the IMU model in your reference board?
PATHFINDER itself does not require an IMU to function, although such additional input can highly increase its performance depending on the chosen data fusion scheme.
If PATHFINDER is to be integrated into a larger data-fusion based localization engine that already uses such an inertial sensor, then IMU data shall only be used to tune its signal tracking dynamics. This would still improve its tracking performance without violating the data-fusion systems presumptions (fusing a sensor twice is usually not a sound approach, especially if the caused correlations are ignored).
If this is not the case, then PATHFINDER can deeply integrate IMU sensor data on its own to fully exploit its usefulness. It is designed to work with arbitrary IMU models if the noise/drift parameters of that IMU can be adequately determined. We usually do not supply an IMU on our own, PATHFINDER is software, although we can point out models we used so far.
As a last note: As most modern GNSS receivers, PATHFINDER can update its position estimation using a single satellite in sight as well. The four satellites requirement is true for trivial single positioning algorithms only, that need to solve the position and clock bias estimation at each update step. Using more sophisticated assumptions on the receiver dynamics softens this requirement. However, this is only suitable to bridge short term signal interruptions like at an underpass. Understandably, precision will suffer over time (but slower with an IMU) and confidence estimation will disclose this.