A sensor system for placement in a vehicle, comprising a plurality of sensor elements (1, 3, 4), which are configured so that they, at least to some extent, capture different primary measured variables and, at least to some extent, use different measuring principles, wherein the sensor system additionally includes a satellite navigation system and the sensor system further comprises a signal processing device, wherein the signal processing device is configured to, at least to some extent, directly or indirectly evaluate the sensor signals of the sensor elements and the output signals of the satellite navigation system jointly, wherein the signal processing device comprises a sensor fusion module, including a fusion filter, which, in the course of the joint evaluation of at least the sensor signals and/or signals of the sensor elements derived from these, provides a defined fusion data set, wherein this fusion data set in each case includes data on defined physical variables, wherein the fusion data set for at least one physical variable includes a value of this physical variable and information on its data quality, wherein the signal processing device calculates and/or uses a first group of data of physical variables, the values of which relate to a vehicle coordinate system, and wherein the signal processing device additionally calculates and/or uses a second group of data of physical variables, the values of which relate to a world coordinate system, wherein this world coordinate system is, in particular, suitable for at least describing the alignment and/or dynamic variables of the vehicle in the world, wherein the sensor system includes an alignment model unit, with which the alignment angle between the vehicle coordinate system and the world coordinate system is calculated, and wherein the alignment model unit is configured so that, in addition to the alignment angle, it also calculates and provides information on the data quality of this variable, in particular the variance of the alignment angle, characterised in that the fusion filter is configured so that the fusion data set comprises a relative value as the value of the at least one physical variable, in particular an offset value and/or change value and/or correction value and/or error value, wherein the alignment angle between the vehicle coordinate system and the world coordinate system is calculated in the alignment model unit, at least based on the following variables: the speed of the vehicle relative to the vehicle coordinate system, the speed of the vehicle relative to the world coordinate system, wherein the alignment model unit provides the alignment angle between the vehicle coordinate system and the world coordinate system as well as the information on the data quality of this variable to the fusion filter and the fusion filter uses this alignment angle in its calculations. the speed of the vehicle relative to the vehicle coordinate system, the speed of the vehicle relative to the world coordinate system, wherein the alignment model unit provides the alignment angle between the vehicle coordinate system and the world coordinate system as well as the information on the data quality of this variable to the fusion filter and the fusion filter uses this alignment angle in its calculations.