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It is estimated that in the United States, nearly one quarter of all fatal automobile accidents involve a vehicle rollover. [1] In order to reduce fatalities and serious injuries, it is desirable to develop a sensing system that can detect an imminent rollover condition with sufficient time to activate occupant safety protection devices. The goals of a Rollover Sensing Module (RSM) are; 1 To accurately estimate vehicle roll and pitch angles 2 To reliably predict in a timely manner an imminent rollover 3 To eliminate false activation of safety devices 4 To function properly during airborne conditions 5 To be as autonomous as possible, not requiring information from other vehicle subsystems.