在安卓手机上获得准确的方向

Question

我正在做一个关于视频稳定的项目。现在，我正在尝试首先获得准确的方向。我已经阅读了有关传感器事件的信息。我知道我不能只使用 SensorManager.getOrientation() 来获得准确的方向。另外，我知道使用加速度计和陀螺仪的集成可以获得正确的俯仰和滚动。

现在，我也想知道如何获得正确的偏航？

感谢您的宝贵时间！

Answer 1

使用此代码，您可以使用加速度计和磁场传感器获得准确的方向。 (What is the alternative to android orientation sensor?)

public class OrientationTestActivity extends Activity implements SensorEventListener
{
    private SensorManager mSensorManager;
    private Sensor mAccelerometer;
    private Sensor mMagnetometer;

    private float[] mLastAccelerometer = new float[3];
    private float[] mLastMagnetometer = new float[3];
    private boolean mLastAccelerometerSet = false;
    private boolean mLastMagnetometerSet = false;

    private float[] mR = new float[9];
    private float[] mOrientation = new float[3];

    @Override
    public void onCreate(Bundle savedInstanceState)
    {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.main);

        mSensorManager = (SensorManager)getSystemService(SENSOR_SERVICE);
        mAccelerometer = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
        mMagnetometer = mSensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD);
    }

    protected void onResume() {
        super.onResume();
        mLastAccelerometerSet = false;
        mLastMagnetometerSet = false;
        mSensorManager.registerListener(this, mAccelerometer, SensorManager.SENSOR_DELAY_NORMAL);
        mSensorManager.registerListener(this, mMagnetometer, SensorManager.SENSOR_DELAY_NORMAL);
    }

    protected void onPause() {
        super.onPause();
        mSensorManager.unregisterListener(this);
    }

    public void onAccuracyChanged(Sensor sensor, int accuracy) {
    }

    public void onSensorChanged(SensorEvent event) {
        if (event.sensor == mAccelerometer) {
            System.arraycopy(event.values, 0, mLastAccelerometer, 0, event.values.length);
            mLastAccelerometerSet = true;
        } else if (event.sensor == mMagnetometer) {
            System.arraycopy(event.values, 0, mLastMagnetometer, 0, event.values.length);
            mLastMagnetometerSet = true;
        }
        if (mLastAccelerometerSet && mLastMagnetometerSet) {
            SensorManager.getRotationMatrix(mR, null, mLastAccelerometer, mLastMagnetometer);
            SensorManager.getOrientation(mR, mOrientation);
            Log.i("OrientationTestActivity", String.format("Orientation: %f, %f, %f",
                                                           mOrientation[0], mOrientation[1], mOrientation[2]));
        }
    }
}

有了这个，你会得到包含方位角、俯仰角和滚动角的 mOrientation。

正如这里所解释的https://math.stackexchange.com/questions/296799/azimuth-vs-yaw yaw 是方位角的变化。