Yaw rate estimation using two 1-axis accelerometers

This paper presents a new way of estimating yaw rate of a vehicle using two 1-axis accelerometers. Measurement of yaw rate is inevitable for vehicle stability control systems adopted in contemporary high performance sedans and for the automatic steering control systems for intelligent vehicles. Compared with accelerometers, the cost of rate gyros used to measure the yaw rate is significantly higher. As an economical software solution to replace the high-cost rate gyros with minimal additional hardware, an algorithm to estimate yaw rate using two 1-axis accelerometers is proposed in this paper.