Method and system for estimating information related to a vehicle pitch and/or roll angle

A method (200) for estimating information related to at least one of a vehicle pitch or roll angle, the method comprising the steps of:

• obtaining (220;
• 520) a first estimate of the information related to at least one of the pitch or roll angle;
• capturing (210) an image of an area covering at least a part of the horizon using a camera mounted on the airborne vehicle;
• and
• determining (230, 240) an improved estimate of the information related to at least one of the pitch or roll angle based on the first estimate of the information related to at least one of the pitch or roll angle, and a digital elevation model.

A system (900) for estimating information related to a vehicle pitch and/or roll angle, the system comprising:

• a processing unit (102;
• 902) having a first pitch and/or roll angle related estimate obtaining element (908) configured to obtain a first estimate of the information related to the pitch and/or roll angle;
• at least one camera (101;
• 901) mounted on the airborne vehicle, said camera being configured to capture an image of an area covering at least a part of the horizon;
• and
• a database (103;
• 903) configured to store a digital elevation model;
• wherein the processing unit (102;
• 902) comprises an improved pitch and/or roll angle related estimate obtaining element (909) configured to determine an improved estimate of the information related to the pitch and/or roll angle based on the first estimate of the pitch and/or roll angle related information, and the digital elevation model.