Maths behind the Android orientation calculation algorithm

by DD » Sun, 28 Mar 2010 13:30:33 GMT


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 Hi,

I know Android calculates the orientation of the phone by fusing the
acceleration and magnetic field readings. The related APIs are
getRotationMatrix() and getOrientation(). I looked into the source
code of these two APIs
 http://www.netmite.com/android/mydroid/cupcake/frameworks/base/core/java/android/hardware/SensorManager.java 

But I couldn't really figure out where exactly the implementation came
from... Could anybody tell me where I can find the theory of this
algorithm and detailed mathematical background of it? I'm currently
implementing exactly the same algorithm offline in MATLAB, and trying
to write some mathematical analysis about it.

Thank you very much!

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