A yaw-rate sensor is a
gyroscopic
A gyroscope (from Ancient Greek γῦρος ''gŷros'', "round" and σκοπέω ''skopéō'', "to look") is a device used for measuring or maintaining orientation and angular velocity. It is a spinning wheel or disc in which the axis of rotat ...
device that measures a vehicle's
yaw rate
A yaw rotation is a movement around the yaw axis of a rigid body that changes the direction it is pointing, to the left or right of its direction of motion. The yaw rate or yaw velocity of a car, aircraft, projectile or other rigid body is the an ...
, its
angular velocity
In physics, angular velocity or rotational velocity ( or ), also known as angular frequency vector,(UP1) is a pseudovector representation of how fast the angular position or orientation of an object changes with time (i.e. how quickly an objec ...
around its vertical axis. The angle between the vehicle's
heading and
velocity
Velocity is the directional speed of an object in motion as an indication of its rate of change in position as observed from a particular frame of reference and as measured by a particular standard of time (e.g. northbound). Velocity i ...
is called its
slip angle
In vehicle dynamics, slip angle or sideslip angle is the angle between the direction in which a wheel is pointing and the direction in which it is actually traveling (i.e., the angle between the forward velocity vector v_x and the vector s ...
, which is related to the yaw rate.
Types
There are two types of yaw-rate sensors: the
piezoelectric
Piezoelectricity (, ) is the electric charge that accumulates in certain solid materials—such as crystals, certain ceramics, and biological matter such as bone, DNA, and various proteins—in response to applied mechanical stress. The word ' ...
type and the
micromechanical type.
In the piezoelectric type, the sensor is a "
tuning fork
A tuning fork is an acoustic resonator in the form of a two-pronged fork with the prongs ( tines) formed from a U-shaped bar of elastic metal (usually steel). It resonates at a specific constant pitch when set vibrating by striking it agai ...
"-shaped structure with four piezoelectric elements, two on top and two below. When the slip angle is zero (i.e., no slip), the upper elements produce no voltage as no
Coriolis force
In physics, the Coriolis force is an inertial or fictitious