A method for estimating a relative attitude between an implement and a vehicle body, wherein the implement is operably coupled to the vehicle body, the vehicle body having a controller attached thereto and the controller is performing the method comprising the steps of: receiving a first system state vector estimate, wherein the first system state vector estimate: corresponds to a first time instant in a plurality of time instants; and comprises a representation of a first relative attitude estimate corresponding to the first time instant; receiving a body angular velocity vector measurement from at least one body gyro mounted on the vehicle body; the method being characterized by: receiving an implement angular velocity vector measurement from at least one implement gyro mounted on the implement; computing an updated system state vector based at least in part on the first system state vector estimate, the body angular velocity vector measurement, and the implement angular velocity vector measurement; predicting a second system state vector estimate, wherein the second system state vector estimate: is based at least in part on the updated system state vector and a time-dependent system model; corresponds to a second time instant in the plurality of time instants; and comprises a representation of a second relative attitude estimate corresponding to the second time instant; and measuring one or more control signals for use in determining whether a relative angular velocity of the implement with respect to the vehicle body is zero or non-zero. receiving a first system state vector estimate, wherein the first system state vector estimate: corresponds to a first time instant in a plurality of time instants; and comprises a representation of a first relative attitude estimate corresponding to the first time instant; corresponds to a first time instant in a plurality of time instants; and comprises a representation of a first relative attitude estimate corresponding to the first time instant; receiving a body angular velocity vector measurement from at least one body gyro mounted on the vehicle body; the method being characterized by: receiving an implement angular velocity vector measurement from at least one implement gyro mounted on the implement; computing an updated system state vector based at least in part on the first system state vector estimate, the body angular velocity vector measurement, and the implement angular velocity vector measurement; predicting a second system state vector estimate, wherein the second system state vector estimate: is based at least in part on the updated system state vector and a time-dependent system model; corresponds to a second time instant in the plurality of time instants; and comprises a representation of a second relative attitude estimate corresponding to the second time instant; and measuring one or more control signals for use in determining whether a relative angular velocity of the implement with respect to the vehicle body is zero or non-zero. receiving an implement angular velocity vector measurement from at least one implement gyro mounted on the implement; computing an updated system state vector based at least in part on the first system state vector estimate, the body angular velocity vector measurement, and the implement angular velocity vector measurement; predicting a second system state vector estimate, wherein the second system state vector estimate: is based at least in part on the updated system state vector and a time-dependent system model; corresponds to a second time instant in the plurality of time instants; and comprises a representation of a second relative attitude estimate corresponding to the second time instant; and is based at least in part on the updated system state vector and a time-dependent system model; corresponds to a second time instant in the plurality of time instants; and comprises a representation of a second relative attitude estimate corresponding to the second time instant; and measuring one or more control signals for use in determining whether a relative angular velocity of the implement with respect to the vehicle body is zero or non-zero.