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This paper presents a proof of concept for an algorithm to determine the attitude of a multi-layer laser rangefinder or LiDAR (Light Detection And Ranging) relative to a reference frame given the ability of the LiDAR to make measurements to a planar surface with sufficient and proper excitation. Due to the highly non-linear nature of the problem presented, weighted recursive least squares along with a high order unscented transform are used to obtain a final result which is capable of being extended to vehicle safety systems to provide a measurement of the roll and pitch of a vehicle relative to the road's surface with a high degree of accuracy.