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This paper demonstrates that the vehicle sideslip can be estimated through the kinematic relationship of velocity measurements from two low-cost GPS receivers. To compensate for the low update rate of low-cost GPS receivers, acceleration/angular rate measurements from an inertial measurement unit (IMU) are merged with the GPS measurements using an extended Kalman filter (EKF). Two technical challenges were addressed: 1) unsynchronized updates of the two GPS receivers and 2) significant delays in GPS velocity measurement. A stochastic observability analysis reveals that the proposed method guarantees the observability when a vehicle has nonzero yaw rates. Experimental verification shows that the vehicle sideslip is estimated regardless of surface friction levels under several maneuvers.