如何计算IMU传感器的方向？

Question

BLE CPro sensor我试图＆＃34;构建＆＃34;智能手机游戏的遥控器。如果传感器位于左侧或右侧而不受其重力影响，我如何识别传感器的方向（优先级）。即在动摇/移动的环境中？

我的问题是，如果我使用加速度计计算方向，每次传感器被晃动时，重力会急剧变化，这使得很难知道当前的方向？

此CPro传感器提供了有关如何计算四元数的示例。作为输出，它使用OpenGL ES显示立方体图形，该图形遵循传感器的方向/旋转。不幸的是，我不太了解如何从四元数中获得毕业生的方向......

//src https://github.com/mbientlab-projects/iOSSensorFusion/tree/master
- (void)performKalmanUpdate
{
    [self.estimator readAccel:self.accelData
                        rates:self.gyroData
                        field:self.magnetometerData];

    if (self.estimator.compassCalibrated && self.estimator.gyroCalibrated)
    {
        auto q = self.estimator.eskf->getState();
        auto g = self.estimator.eskf->getAPred();

        auto a = self.accelData;
        auto w = self.gyroData;

        auto mp = self.estimator.eskf->getMPred();
        auto m = self.estimator.eskf->getMMeas();

        _s->qvals[0] = q.a();
        _s->qvals[1] = q.b();
        _s->qvals[2] = q.c();
        _s->qvals[3] = q.d();

        //  calculate un-filtered angles
        float ay = -a.y;
        if (ay < -1.0f) {
            ay = -1.0f;
        } else if (ay > 1.0f) {
            ay = 1.0f;
        }
        _s->ang[1] = std::atan2(-a.x, -a.z);
        _s->ang[0] = std::asin(-ay);
        _s->ang[2] = std::atan2(m(1), m(0)); //  hack: using the filtered cos/theta to tilt-compensate here

        //  send transform to render view
        auto R = q.to_matrix();

        GLKMatrix4 trans = GLKMatrix4Identity;
        auto M = GLKMatrix4MakeAndTranspose(R(0,0), R(0,1), R(0,2), 0.0f,
                                            R(1,0), R(1,1), R(1,2), 0.0f,
                                            R(2,0), R(2,1), R(2,2), 0.0f,
                                            0.0f, 0.0f, 0.0f, 1.0f);

        trans = GLKMatrix4Multiply(trans, M);
        self.renderVC.cubeOrientation = trans;
    }
}