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In the presented sensor fusion approach, centralized ltering of related sensor signals is used to improve and correct low price sensor measurements. From this, we compute high-quality state information as drift-free yaw rate and exact velocity (accounting for unknown tire radius and slipping wheels on 4WD vehicles). The basic tool here is a Kalman lter supported by change detection for sensor diagnosis. Results and experience of real-time implementations are presented

Sensor Fusion for Accurate Computation of Yaw Rate and Absolute Velocity