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Permalink Reply by Rud Merriam on December 2, 2012 at 9:00pm

I'll reply to bump this request. I also am looking for the capability to determine yaw in a ground vehicle using a gyro and accelerometer. I cannot use a magnetometer or GPS for this project. After a few days over the last couple of weeks I have not found a solution and suspect there may not be one. 

Here are my thoughts.

Pitch and roll are measurable against the gravity acceleration vector. In short, you know there is movement and the amount from the gyro. The accelerometer validates the movement and clarifies the direction. 

With yaw there is no acceleration vector as a reference. All there is as measurements is the gyro and accelerometer changes. Those are insufficient to provide a good yaw reading.

I am hoping someone can convince and show me otherwise. 

Rud

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