Sensor device and sensor system for determining a position of a vehicle or a part of the vehicle

It is proposed for determining a location of a vehicle or part of the vehicle, a sensor device (1), comprising: a first transform unit (2) for transforming the measured angular rate (S1) of the vehicle a vehicle coordinate system in a geographical coordinate system transformed rotation rate (S2), a determining device (3) for determining first drift compensation components (S3) in the vehicle coordinate system using measured acceleration (S4) of the vehicle in the vehicle coordinate system, a second transformation unit (4) for transforming the first drift compensation components (S3) in the vehicle coordinate system into second drift compensation components (S5) in the geographic coordinate system, a link unit (5) for combining the transformed rotation rate ( S2) (with the second drift compensation components S5) in the geographical coordinate system to issue Drif t-compensated transformed rotation rate (S6), and an integrator unit (6) for integrating said drift compensated transformed rotation rate (S6) to Euler angles (S7) the geographic coordinate system.