I am working with a car and trailer model which has a GPS sensor attached and I am looking for ways to calculate it's yaw (orientation).
One way I am working on is two resolve both the car and trailer into coordinates and use them to find the angles.
I have the length of the car and its x and y cordinates. So the car's length serve as my hypotenuse and the latitude and longitude coordinates serves as my base and perpendicular given by the GPS for all time. My question now is that are there any formulas that I can use to obtain yaw for my car and/or trailer. I can compute all the angles within the triangle using cosine and sine law.