It is not possible to orthorectify a data file in ENVI if it does not have associated RPCs (rational polynomial coefficients).  So, what you need to do is first build the RPCs (via Map ->Build RPCs) and I am afraid this is going to require that you select GCPs.  You don't need to go to the field to do this, but you will need a reliable reference image to select GCPs.   The information you have is not enough to place the image on the earth accurately.  A landsat image should work if you believe the referencing to be reliable.

You will need the omega, phi and kappa values which can be calculated from the IMU.  They are non-trivial calculations so I wonder if your data provider has a means to calculate them for you.