Abstract: A method for determining the driving state of a vehicle in three-dimensional space comprising the steps: sensing of first signals over a specific time period, these signals being based on the first sensor signals which correspond to the three-dimensional acceleration of the vehicle; sensing of seconds signals over the specific time period, these signals being based on the second sensor signals which correspond to the three-dimensional angular rates of the vehicle; calculating the driving state variables of the three-dimensional velocity and/or three-dimensional orientation of the vehicle by integrating the first signals and or the second signals over the specific time period according to the system of equations of motion for the corresponding driving state variables; sensing of one or more third signals which are based on one or more additional third sensor signals with which one or more components of the calculated driving state variables can be determined; and correcting the first and second signals of the