A system for estimating the weight of a payload in a bucket is provided. The system includes a pivotable lift linkage, a lift cylinder assembly, a pivotable tilt linkage and a tilt cylinder assembly. A payload measurement system receives pressure data relating to a pressure in the lift cylinder assembly and angular position data relating to an angular position of the bucket relative. The payload measurement system is configured to estimate weight of a payload in the bucket based on the pressure data, the angular position data and predetermined physical parameters relating to the tilt linkage and lift linkage that are useable to characterize an effect of a portion of the payload that is supported by the tilt cylinder assembly.