“…Complementary and Kalman filters are usually used extensively, but the complementary filter was chosen because the processing of the Kalman filter took longer than that of the complementary filter. To prevent accumulated errors due to the integral calculation, the weights of acceleration and angle data were varied and corrected according to the stopping and driving conditions [ 26 , 27 , 28 , 29 , 30 , 31 ]. When it is close to a stationary state, the weight of acceleration is increased, and when a sudden rotation or movement is detected, the weight of angular velocity is increased to respond to the changed angle.…”