A method for estimating yaw of a dozer blade coupled to a dozer by a c-frame, wherein the dozer blade is rotatable to change the yaw of the dozer blade relative to the c-frame, the method comprising: receiving an estimated pitch and roll of the dozer blade; receiving an estimated pitch and roll of the c-frame; moving the c-frame to simultaneously rotate an inertial measurement unit (IMU) coupled to the dozer blade and an IMU coupled to the c-frame, wherein measurement axes of the IMU coupled to the dozer blade and measurement axes of the IMU coupled to the c-frame are approximately aligned; receiving gyro signals of the IMU coupled to the dozer blade, wherein at least some of the gyro signals of the IMU coupled to the dozer blade include signals obtained while the c-frame is moving and the yaw of the dozer blade is substantially static; receiving gyro signals of the IMU coupled to the c-frame, wherein at least some of the gyro signals of the IMU coupled to the c-frame include signals obtained while the c-frame is moving; reducing effects of the estimated pitch and roll of the dozer blade on the gyro signals of the IMU coupled to the dozer blade to provide corrected dozer blade gyro signals; reducing effects of the estimated pitch and roll of the c-frame on the gyro signals of the IMU coupled to the c-frame to provide corrected c-frame gyro signals; and estimating the yaw of the dozer blade relative to the c-frame based on the corrected dozer blade gyro signals and the corrected c-frame gyro signals, wherein the gyro signals of the IMU coupled to the dozer blade and the gyro signals of the IMU coupled to the c-frame provide information on angular velocity of the dozer blade and angular velocity of the c-frame, respectively. receiving an estimated pitch and roll of the dozer blade; receiving an estimated pitch and roll of the c-frame; moving the c-frame to simultaneously rotate an inertial measurement unit (IMU) coupled to the dozer blade and an IMU coupled to the c-frame, wherein measurement axes of the IMU coupled to the dozer blade and measurement axes of the IMU coupled to the c-frame are approximately aligned; receiving gyro signals of the IMU coupled to the dozer blade, wherein at least some of the gyro signals of the IMU coupled to the dozer blade include signals obtained while the c-frame is moving and the yaw of the dozer blade is substantially static; receiving gyro signals of the IMU coupled to the c-frame, wherein at least some of the gyro signals of the IMU coupled to the c-frame include signals obtained while the c-frame is moving; reducing effects of the estimated pitch and roll of the dozer blade on the gyro signals of the IMU coupled to the dozer blade to provide corrected dozer blade gyro signals; reducing effects of the estimated pitch and roll of the c-frame on the gyro signals of the IMU coupled to the c-frame to provide corrected c-frame gyro signals; and estimating the yaw of the dozer blade relative to the c-frame based on the corrected dozer blade gyro signals and the corrected c-frame gyro signals, wherein the gyro signals of the IMU coupled to the dozer blade and the gyro signals of the IMU coupled to the c-frame provide information on angular velocity of the dozer blade and angular velocity of the c-frame, respectively. <EOS>