Techniques are disclosed for systems and methods to provide accurate attitude estimation for a mobile structure. An attitude estimation system includes a logic device in communication with a gyroscope, an accelerometer, and/or a speed sensor. Sensor signals provided by the various sensors are used to determine an estimated absolute coordinate frame relative to the mobile structure, which can be referenced to the Earth's gravity. Angular velocities provided by the gyroscope are transformed to the estimated absolute coordinate frame and used to determine a stabilized attitude estimate for the mobile structure. The stabilized attitude estimate may be displayed to a user, used to calculate a heading or route for the mobile structure, and/or used to adjust a steering actuator, a propulsion system thrust, and/or other operational systems of the mobile structure.