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A novel algorithm for determining pitch and roll under static or quasi-static conditions is presented. It is based on application of a triaxial micromachined accelerometer for the necessary measurements. In order to obtain a possibly high accuracy, a simple data fusion is applied. Depending on the nominal value of pitch/roll, appropriate mathematical formula is selected. Additionally, the algorithm makes it possible to check if the operating conditions are dynamic, as indications of accelerometers are then not reliable. Implementation of the algorithm makes it possible to determine pitch and roll with accuracy of ca. 0.2° over 360°.