ABS/brake problems

I've recently had some serious trouble with my brakes. Last time I got the codes pulled, I had a passenger-side front wheel speed sensor error code, but my ABS still worked fine. Now, under normal braking, my low trac indicator will light, and after this occurs a few times, I will lose brake pressure for a split second and the ABS Inop indicator will come on. Last time I was quoted for a wheel speed sensor replacement, it was rather expensive. If this is the problem, can I fix it myself? Has anyone else had this problem or something similar? Thanks for the help.