YAW RATE SENSOR BIAS ESTIMATION

An example yaw rate related method includes: obtaining a plurality of measurements of yaw rate of a vehicle from a yaw rate sensor; and determining a yaw rate sensor bias estimate for the yaw rate sensor based on at least one of the plurality of measurements of yaw rate in response to: a plurality of indications of location of the vehicle over time based on global navigation satellite system signals being indicative of straight-line movement of the vehicle; or a determination that the vehicle is stationary.