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 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 measurement from at least one body gyro mounted on the vehicle body, and the vehicle body is a dozer body; the method being characterized by: receiving an implement angular velocity measurement from at least one implement gyro mounted on the implement, the implement is a dozer blade and the dozer blade is operably coupled to the dozer body by at least one hydraulic cylinder (110, 112, 114) where the at least one hydraulic cylinder is controlled by a hydraulic control system and where the hydraulic control system is controlled by a joystick or a controller unit; determining whether a relative angular velocity of the implement with respect to the vehicle body has a zero value by selecting from the group consisting of: monitoring a translation of the joystick; monitoring a pressure of a hydraulic fluid in the at least one hydraulic cylinder; monitoring a flow rate of a hydraulic fluid in the at least one hydraulic cylinder; and monitoring an electronic control signal in the controller unit or in the hydraulic control system; if the relative angular velocity is determined to have the zero value then computing an updated system state vector based at least in part on the first system state vector estimate, the body angular velocity vector measurement, the implement angular velocity vector measurement and the zero value; and if the relative angular velocity is determined not to have the zero value then 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; and 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. 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 measurement from at least one body gyro mounted on the vehicle body, and the vehicle body is a dozer body; receiving an implement angular velocity measurement from at least one implement gyro mounted on the implement, the implement is a dozer blade and the dozer blade is operably coupled to the dozer body by at least one hydraulic cylinder (110, 112, 114) where the at least one hydraulic cylinder is controlled by a hydraulic control system and where the hydraulic control system is controlled by a joystick or a controller unit; determining whether a relative angular velocity of the implement with respect to the vehicle body has a zero value by selecting from the group consisting of: monitoring a translation of the joystick; monitoring a pressure of a hydraulic fluid in the at least one hydraulic cylinder; monitoring a flow rate of a hydraulic fluid in the at least one hydraulic cylinder; and monitoring an electronic control signal in the controller unit or in the hydraulic control system; monitoring a translation of the joystick; monitoring a pressure of a hydraulic fluid in the at least one hydraulic cylinder; monitoring a flow rate of a hydraulic fluid in the at least one hydraulic cylinder; and monitoring an electronic control signal in the controller unit or in the hydraulic control system; if the relative angular velocity is determined to have the zero value then computing an updated system state vector based at least in part on the first system state vector estimate, the body angular velocity vector measurement, the implement angular velocity vector measurement and the zero value; and if the relative angular velocity is determined not to have the zero value then 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; and 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. 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.