SENSOR DEVICE FOR A VEHICLE

A sensor device (100A) is disclosed, which comprises an advanced antenna array radar transceiver (120A) configured to measure motion of the sensor device relative to an external surface in a reference frame of the sensor device and provide corresponding radar data, and an inertial measurement unit, IMU, (110A) configured to measure motion of the sensor device in a reference frame of the sensor device and provide corresponding IMU data. The advanced antenna array radar transceiver and the IMU are fixedly mounted relative each other.Processing circuitry (130A) is configured to determine an orientation of the sensor device relative an inertial reference frame (e.g., in terms of one or more Euler angle(s)) based on joint processing of the radar data and the IMU data.Corresponding computer system, vehicle, computer-implemented method, computer program product, and non-transitory computer-readable storage medium are also disclosed.