Algorithm: The Algorithm for Complementary Filtering

//Complementary algorithm; Generate Date List, Status list; Get all the date points $a_i\left(ax,ay,az\right), g_i\left(gx, gy, gz\right), m_i\left(mx,my,mz\right)$, and put them in the Date List; Get all the status values , and put them in the Status list; For j = 0 to Date List.num do Get the $g_i$ out to calculate ${\theta }_g$; If $t=kT$; $\beta =k\beta , \alpha =\left(N-k\right)\alpha$; Calculate$Qi=\alpha {\theta }_g+\beta {\theta }_a$; End If.