A method of estimating a mass flow rate of nitrogen oxides in exhaust gas includes sensing a mass flow rate of a flow of exhaust gas from the engine. A nitrogen oxides base concentration for when the engine is operating at a reference state is defined, and a nitrogen oxides ratio for a current operating state of the internal combustion engine is calculated. The mass flow rate of the flow of exhaust gas, the nitrogen oxides base concentration, and the nitrogen oxides ratio for the current operating state of the engine are multiplied together to define an estimated value of the current mass flow rate of nitrogen oxides in the flow of exhaust gas from the engine. The estimated value of the mass flow rate of nitrogen oxides may be compared to the output from a nitrogen oxides sensor to determine proper functionality of the nitrogen oxides sensor.