Kiwi Field Oriented Driving Programming

[Nerdatope]

After reading through the posts on this site regarding holonomic drive systems and how to program them, I decided to build the three-wheeled system known as the "Kiwi" drive system. The posts I read and the drive system reverse kinematics can be seen via the link below:

http://www.chiefdelphi.com/media/papers/2390


So far I've had success getting my robot to move and rotate, but what I need help on is getting the system to be "field-centric", where no matter what the orientation of the robot is, a forward command will result in the robot moving in the same direction relative to the field. Does anyone know how to make the system field oriented with inputs from a gyroscope?

Thanks so much in advanced and I hope this first post of mine isn't too abnormal!