A tilt sensor and method comprises a first accelerometer for measuring a first acceleration level associated with a first axis of the vehicle. A second accelerometer measures a second acceleration level associated with a second axis of the vehicle that is generally perpendicular to the first axis. A data processor is capable of determining an arcsine-derived tilt based on an arcsine equation and the determined first acceleration level. The data processor is capable of determining an arc-cosine-derived tilt based on an arccosine equation and the determined second acceleration level. The data processor comprises a selector for selecting the arcsine-derived tilt as the final tilt of the vehicle if the determined arcsine-derived tilt is lesser than the determined arccosine derived tilt such that the final tilt compensates for vertical acceleration associated with changes in the terrain in the direction of travel of the vehicle.