In one aspect, a method of estimating one of inclination and orientation of a downhole device is provided that includes the features of taking pressure measurements at a plurality of locations on the downhole device in the wellbore, wherein at least one location in the plurality of locations is vertically displaced from at least one other location, and estimating the one of the inclination and orientation of the downhole device from the plurality of pressure measurements. In another aspect, a downhole tool is disclosed that in one configuration includes a device for estimating inclination and/or orientation of the downhole tool that further includes a body containing a liquid therein and a plurality of pressure sensors arranged in the body configured to provide pressure measurements of the liquid in the body, wherein a pressure sensor in the plurality of pressure sensors is vertically disposed from at least one other sensor in the plurality of sensors.