You could do it by using a Datron Micr-eep datalogger to record pulses from front and rear wheel encoders and an RT3000 Inertial Navigation system to measure slip angle, lateral acceleration etc or remotely with a V-Box (drift box option).
Datron also produce Measurement steering wheels that can independantly perform slalom (elk) tests that cope with slip angle etc. You can hire all of this kit but it is expensive.
What you need is a friendly automotive engineer to give you some data, I'm sure they would have all you are looking for from testing ESP systems.
Although interesting as a project I agree with most other people that drifting is about having fun with no electronic aids and usually when I get into a car the first thing I do is switch off ESP!
Good luck with it
