A method and apparatus is provided to determine downhole pressures, such as annular pressure andor pore pressure, during a drilling operation. A limited-frequency integrator integrates the estimated side-slip acceleration to determine an estimated side-slip velocity of the vehicle. The web sensor, and an antenna plate of the capacitive sensing system, are provided on respective printed circuit boards mounted in overlying relation. The guide consists of a plurality of metal tubes, fixed to each other within a holding bracket.