Adaptive Kalman Filter-Based Yaw Rate Estimation Using Accelerometers and Wheel Speed Sensors

This paper presents a kinematic yaw rate estimator which combines measurements obtained from a pair of accelerometers and ABS wheel speed sensors of the non-driven wheels. The Extended Kalman Filter methodology has been used for realization of this sensor fusion-based estimator. The estimator adapts to variations in reliability levels of individual sensors. The estimator performance is validated and corresponding estimation errors are analyzed by computer simulations for different driving maneuvers.