Crane, in particular a revolving tower crane, comprising a hoist cable, which extends from a crane boom and carries a load-receiving means, drive devices for moving a plurality of crane elements and displacing the load-receiving means, a control apparatus for controlling the drive devices such that the load-receiving means travels along a travel path, and a pendulum damping device for damping pendulum movements of the load-receiving means and/or of the hoist cable, wherein the pendulum damping device has a pendulum sensor with a sensing apparatus for detecting and/or estimating deflection (φ; β) of the hoist cable and/or of the load-receiving means with respect to a vertical, and a controller component having a closed control circuit for influencing the control of the drive devices depending on the determined deflection (φ; β), wherein the sensing apparatus has an inertial measurement unit, which is mounted on the load-receiving means with translatory acceleration and gyroscopic rotation rate sensor means for providing translatory acceleration signals, which indicate a translatory acceleration along different spatial axes, and gyroscopic rotation rate signals, which indicate rotation rates and/or rotational accelerations of the load-receiving means with respect to different spatial axes, and first determining means for determining and/or estimating a tilt (ε β) of the load-receiving means from the acceleration and rotation rate signals of the inertial measurement unit, characterized in that the sensing apparatus has second determining means for determining the deflection (β) of the hoist cable and/or of the load-receiving means with respect to the vertical from the determined tilt (ε β) of the load-receiving means and an inertial acceleration ( I a) of the load-receiving means, wherein the first determining means comprises a complementary filter having a highpass filter configured to filter the rotation rate signal of the inertial measurement unit and a lowpass filter configured to filter the acceleration signal of the inertial measurement unit or a signal derived therefrom, which complementary filter is configured to link an estimate of the tilt (ε β,ω) of the load-receiving means that is based on the highpass filtered rotation rate signal and an estimate of the tilt (ε β,a) of the load-receiving means that is supported by acceleration and that is based on the lowpass filtered acceleration signal with one another and to determine the sought tilt (ε β) of the load-receiving means from the linked estimates of the tilt (ε β,ω; ε β,a) of the load-receiving means supported by the rotation rate and by the acceleration. wherein the sensing apparatus has an inertial measurement unit, which is mounted on the load-receiving means with translatory acceleration and gyroscopic rotation rate sensor means for providing translatory acceleration signals, which indicate a translatory acceleration along different spatial axes, and gyroscopic rotation rate signals, which indicate rotation rates and/or rotational accelerations of the load-receiving means with respect to different spatial axes, and first determining means for determining and/or estimating a tilt (ε β) of the load-receiving means from the acceleration and rotation rate signals of the inertial measurement unit, characterized in that the sensing apparatus has second determining means for determining the deflection (β) of the hoist cable and/or of the load-receiving means with respect to the vertical from the determined tilt (ε β) of the load-receiving means and an inertial acceleration ( I a) of the load-receiving means, wherein the first determining means comprises a complementary filter having a highpass filter configured to filter the rotation rate signal of the inertial measurement unit and a lowpass filter configured to filter the acceleration signal of the inertial measurement unit or a signal derived therefrom, which complementary filter is configured to link an estimate of the tilt (ε β,ω) of the load-receiving means that is based on the highpass filtered rotation rate signal and an estimate of the tilt (ε β,a) of the load-receiving means that is supported by acceleration and that is based on the lowpass filtered acceleration signal with one another and to determine the sought tilt (ε β) of the load-receiving means from the linked estimates of the tilt (ε β,ω; ε β,a) of the load-receiving means supported by the rotation rate and by the acceleration.