1. 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; receiving an implement angular velocity 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; 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.