Android的去除加速度计读数重力 [英] android remove gravity from accelerometer readings

问题描述

我为Android开发的应用程序，我需要从加速度计读数删除引力。我已阅读关于这个问题的讨论多，我还发现了一个算法<一href="http://developer.android.com/reference/android/hardware/Sensor.html#TYPE_ACCELEROMETER">here,但我并没有真正了解它。

I am developing an application for Android where I need to remove gravity from accelerometer readings. I have read multiple discussions on this problem, I have also found an algorithm here, but I didn't really understand it.

欲从各轴过滤重力，而不是从总加速度

I want to filter gravity from each axis, not from the total acceleration.

能否请你帮我吗？我的code应该是这样的：

Could you please help me out? My code should be something like:

public void onSensorChanged(SensorEvent sensorEvent) {
    float vals[] = sensorEvent.values;
    float accelerationX = filterGravity(vals[0]);
    float accelerationY = filterGravity(vals[1]);
    float accelerationZ = filterGravity(vals[2]);
}

我应该在filterGravity（）方法有何code？

What code should I place in the filterGravity() method?

推荐答案

有关你需要一个低通滤波器其他方法，如卡尔曼滤波器是关于背后的数学pretty的艰难。一个简单的例子为Android是点击远离你的链接<一个href="http://developer.android.com/reference/android/hardware/SensorEvent.html#values">http://developer.android.com/reference/android/hardware/SensorEvent.html#values.

For a basic solution you would need a low pass filter other approaches like a Kalman filter are pretty tough regarding the maths behind. A simple example for Android is one click away from your link at http://developer.android.com/reference/android/hardware/SensorEvent.html#values.

简单的讲一个低通滤波器，建立从您的所有历史价值的加权平均值。如果你有例如0.1滤波系数就意味着你的当前值的10％将被添加到previous平均值：中oldMeanValue的到currentValue + 90％newMeanValue = 10％。这意味着，即使有一个突然的峰只会慢慢推因为10％的的平均值。

Simply spoken a low pass filter builds a weighted average from all your history values. If you have for example a filtering factor of 0.1 it means that 10% of your current value is added to the previous mean value: newMeanValue = 10% of currentValue + 90% of oldMeanValue. That means even if there is an abrupt peak it will only push your mean value slowly because of the 10%.

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