1. A method ( 200 ) for estimating information related to at least one of a vehicle pitch or roll angle, the method comprising the steps of: obtaining ( 220 ; 520 ) a first estimate of the information related to at least one of the pitch or roll angle; capturing ( 210 ) an image of an area covering at least a part of the horizon using a camera mounted on an airborne vehicle; and determining ( 230 , 240 ) an improved estimate of the information related to at least one of the pitch or roll angle based on the obtained first estimate of the information related to at least one of the pitch or roll angle, a digital elevation model, and a horizon in the captured image.