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You'll want to do a migration install of 5.3... this will be the default method after you boot off of the 5.3 aix install cd1, and you wont 'lose' any data (preservavtion install will clobber a few LVs, overwrite method is what is says :-)
Always take a mksysb before upgrades (only contains rootvg).
Always take a full data backup as well (non rootvg data) perhaps using savevg, tar, cpio, tsm, backup, etc.
You can get specific data off of a mksysb if you really had to:
$ tctl fsf 3
$ restore -xvf /dev/rmt0.1 ./your/file/name
Update your microcode after performing the upgrade unless you receive an error during. This will make sure the microcode and device drivers are both at the latest supported levels.
The upgrade process will make the propriate modifications to ODM. No need to worry about that.
But you should perform your upgrade as soon as possible. IBM withdrew support for AIX 5.1 three months ago.
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