Question

我希望记录移动加速度计数据（x / y / z）并将其调整为一致，无论手机的方向/旋转如何。这里的用例是在驾驶时记录和标准化这些参数以检测转弯/扭转等。这一点的关键要素是确保报告的数据与手机在汽车中的定向无关。我正在使用gyronorm.js获取设备动作和方向详细信息。

我已经在SO上查看了与此主题相关的先前答案（例如this），并尝试实施他们的方法来获取地球坐标。

然而，当我转动/扭动手机时，我看到读数完全改变了。谁能告诉我我做错了什么？

这就是我计算地球坐标的方法：

       const deg2rad = Math.PI / 180;
       let alpha = gdata.do.alpha;
       let beta = gdata.do.beta;
       let gamma = gdata.do.gamma;



       let rotatematrix = this.getRotationMatrix(alpha * deg2rad, beta * deg2rad, gamma * deg2rad);

       let relativeacc = new Array(3);
       let earthacc = new Array(3);
       let inv = new Array(9)
       relativeacc[0] = gdata.dm.gx;
       relativeacc[1] = gdata.dm.gy;
       relativeacc[2] = gdata.dm.gz;

       //console.log ("FIRST MATRIX")
       mat3.invert(inv,rotatematrix);
       //console.log ("SECOND MATRIX")
       mat3.multiply(earthacc, inv, relativeacc);


       let accEarthX = earthacc[0];
       let accEarthY = earthacc[1];
       let accEarthZ = earthacc[2];

        let aMag = Math.sqrt(accEarthX*accEarthX + accEarthY*accEarthY + accEarthZ*accEarthZ)

        console.log (`---RAW DATA --- ` + JSON.stringify(gdata));
        console.log (`*** EARTH DATA X=${accEarthX}, Y=${accEarthY} Z=${accEarthZ}`)

这是getRotationMatrix代码

// credit:https://stackoverflow.com/a/36662093/1361529
getRotationMatrix(alpha, beta, gamma) {

    const getScreenOrientation = () => {
    switch (window.screen.orientation || window.screen.mozOrientation) {
      case 'landscape-primary':
        return 90;
      case 'landscape-secondary':
        return -90;
      case 'portrait-secondary':
        return 180;
      case 'portrait-primary':
        return 0;
    }
    if (window.orientation !== undefined)
      return window.orientation;
  };

  const screenOrientation = getScreenOrientation();
  console.log ("SCREEN ORIENTATIIN = "+screenOrientation);

    let out = [];
    let  _z = alpha;
    let _x = beta;
    let _y = gamma;


    if (screenOrientation === 90) {
      _x = - gamma;
      _y = beta;
    }
    else if (screenOrientation === -90) {
      _x = gamma;
      _y = - beta;
    }
    else if (screenOrientation === 180) {
      _x = - beta;
      _y = - gamma;
    }
    else if (screenOrientation === 0) {
      _x = beta;
      _y = gamma;
    }

    let cX = Math.cos( _x );
    let cY = Math.cos( _y );
    let cZ = Math.cos( _z );
    let sX = Math.sin( _x );
    let sY = Math.sin( _y );
    let sZ = Math.sin( _z );

    out[0] = cZ * cY + sZ * sX * sY,    // row 1, col 1
    out[1] = cX * sZ,                   // row 2, col 1
    out[2] = - cZ * sY + sZ * sX * cY , // row 3, col 1

    out[3] = - cY * sZ + cZ * sX * sY,  // row 1, col 2
    out[4] = cZ * cX,                   // row 2, col 2
    out[5] = sZ * sY + cZ * cY * sX,    // row 3, col 2

    out[6] = cX * sY,                   // row 1, col 3
    out[7] = - sX,                      // row 2, col 3
    out[8] = cX * cY                    // row 3, col 3

  return out

调整移动加速度计数据以解决手机轮换问题

0 个答案: