Method of using predicted vehicle accelerations to improve roll and pitch measurement accuracy in a tracked machine

A work machine includes a vehicular controller, an IMU, an IMU controller, a hydrostatic transmission, and an operator control. The machine can move a commanded machine motion that includes movement of the machine from a first position to a second position or movement of a linkage relative to a chassis. The vehicular controller predicts an acceleration based on the commanded machine motion and communicates the predicted acceleration from the vehicular controller to the IMU controller. The IMU measures a current acceleration and the IMU controller determines an adjusted acceleration from the combination of the predicted acceleration and the current acceleration. The adjusted acceleration is communicated from the IMU controller to the vehicular controller for use by the vehicular controller. The two-way communication between the IMU controller and the vehicular controller continues while the machine is in motion for a more accurate determination of the acceleration and location of the machine.