To provide a device that can stably and accurately estimate the roll angle of a vehicle body during various states of movement of the vehicle body. [Means for solving the problems] A roll angle estimate value calculation portion 14 calculates an estimate v...

A Kalman filter in a roll angle estimation device estimates a roll angle of a vehicle body, a vehicle speed, a roll angular velocity sensor offset, a yaw angular velocity sensor offset, and a vertical acceleration sensor offset on the basis of detected val...

An inclination angle calculation device (100) comprises a motion detector (14) for detecting motions of a traveling object during travel, in two directions included in a cross-section surface of the traveling object, the two directions being orthogonal wit...