A signal processing module (50) comprises a difference signal generating module (60) for generating at least one difference signal (Δ) from a first and a second acceleration measurement vector signal (S1, S2), the first and the second acceleration measurement vector signal (S1, S2) respectively comprising a first and a second sequence of vector signal samples, the vector signal samples comprising at least a first and a second linearly independent acceleration measurement signal component, wherein the vector signal samples represent a measurement result of an acceleration sensor having a variable orientation as a function of time, wherein samples in the first sequence have a corresponding sample in the second sequence. The signal processing module (50) further comprises an inverse calculation module (70) with a matrix inversion facility (71) for providing inverted matrix data (M−1) by inverting a matrix derived from at least one angle of rotation signal, matrix (M) being indicative for a difference in orientation at which the sample of the first sequence and the corresponding sample of the second sequence were obtained, and with a matrix multiplication facility (72) for estimating from the at least one difference signal and the inverted matrix data a bias signal (b1, b2) and/or an object state signal corrected for bias.