Ive done a Kalman filter for integrate a GPS and IMU sensors, I did it to get the position and velocity in x and y directions, getting the aceleration from the IMU and the velocity and position from the GPS.
Now I'm trying to include a 3rd axis with yaw angle, to see the car yaw rate in the XY plane, do you have any idea of how to implement ti?
do't know if this dinamic model is valid:
yaw = yaw(0) + yaw_rate*dt yaw_rate=yaw_rate
[yaw ] = [1 0] * [yaw] + [dt] * [yaw_rate] [yaw_rate] [0 1] [yaw_rate] 
x = A*x + B*u
yaw_rate from IMU yaw angle from GPS or IMU...
If you could help me with this, I would be really gratefull Thank you!