Yaw rate sensor

[Jrh]

Hi 

I am really hoping some one can help me out. 

VSA light is on and won't go off paid some one to plug her in and it is saying faulty Yaw rate sensor but no one knows where it actually is in my car not even honda garages could tell me. So do any of you lovely F-rv owners know exactly where we will find it to be able to replace it. (Im sick if lights on the dash and my MOT is looming.) 

Thank you in advance if you can help.