Dynamic stability control using GNSS and INS

The invention relates to a method for controlling the driving dynamics of a vehicle, especially of a single-track or dual-track and vehicle. The driving dynamics of the vehicle are controlled by way of brake and/or engine intervention, notably depending on a change of the movement of the vehicle in the three-dimensional space and relative to the earth coordinate system and depending on the effective direction of gravity or the earth's gravitational pull. According to said method, the attitude or orientation and the position of the vehicle in three-dimensional space and relative to the earth coordinate system is determined by means of a satellite navigation system (GNSS) which comprises a receiver, mounted on/in the vehicle, having at least three antennas for reception of satellite navigation signals and an inertial measuring system (INS), mounted on/in the vehicle, for measuring all changes in the movement, position and/or attitude of the vehicle.