GPS-enhanced vehicle velocity estimation

A system for determining a vehicle velocity for a vehicle comprising:

• a single-antenna global positioning system (GPS) for providing an absolute speed and a course heading angle of the vehicle;
• vehicle sensors for providing yaw rate measurements independent of the GPS;
• and
• a processor for calculating an integrated yaw rate, a yaw angle a side slip angle, and a vehicle velocity;
• wherein integrated yaw rate of the vehicle is determined as a function of the measured yaw rates over a period of time, wherein the yaw angle is determined as a function of a re-initialized yaw angle and the integrated yaw rate, wherein the side slip angle is determined as a function of the determined yaw angle and the course angle provided by the GPS, wherein the vehicle velocity is determined as a function of the absolute speed and the side slip angle, and wherein the vehicle velocity is provided to a vehicle dynamic control application.