This invention relates generally to a measurement system (20) of a material transfer vehicle. The present invention can be applied in weighing a load of the vehicle. The material transfer vehicle may be e.g. a wheel loader, a forklift, an excavator, a dumper, a forwarder, a harvester, a crane, a passenger hoist, a timber jack, or a truck such as a a fire truck, forklift truck, a pallet truck, a reach truck, or a garbage truck. Prior art measuring systems often have insufficient capability to compensate varying positions and movement of the material transfer vehicle structures. The object of the invention is met by a solution, wherein a material transfer vehicle has at least one first sensor unit (21) including a weighing sensor for weighing a load of a vehicle, and at least one second sensor unit (22a, 22b, 22c) for measuring an angular position/movement of a boom and/or a carrying means of the vehicle. According to the invention, the second sensor unit has a gyroscope.