Yaw is the horizontal rotation angle of the camera.
If shooting a panorama you rotate the camera horizontally (around a vertical axis). You will treat one image as an anchor image which is considered to have yaw = 0. The angle you rotated your camera relatively to this image is its Yaw value.
For a typical 360° panorama the yaw difference from one image to the next can be estimated by dividing 360 by the number of images.