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Do WMR controllers have internal sensors for positional tracking?

From controllers description:

If the user moves the controllers out of the headset's field of view, in most cases Windows will continue to infer controller positions and provide them to the app. When the controller has lost visual tracking for long enough, the controller's positions will drop to approximate-accuracy positions.

It is not clear how it will infer positons? Do WMR controllers have internal sensors for positional tracking? Also how long is "long enough"?

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