android滤波方位传感器

我使用方向传感器测量相对于代码中定义的校准点的坡度。当平板电脑处于要测量的稳定点时，输出相当跳跃+/-~.35。我想在传感器的输出上加上某种滤波器，但我不确定如何真正做到这一点

以下是我目前的代码：

在onCreateView中

sensorCalibrate.setOnClickListener(new View.OnClickListener() {
                @Override
                public void onClick(View view) {

                    calibratedPitch = pitch;
                    adjustedRoll = roll;
                    // adjPitchDisplay.setText(Float.toString(Math.abs(calibratedPitch)) + "   ");

                    Toast.makeText(getActivity(), "Sensor Calibrated!", Toast.LENGTH_SHORT).show();

                }
            });

还有一些方法

public void onSensorChanged(SensorEvent event) {
    if (event.sensor == mRotationSensor) {
        if (event.values.length > 4) {
            float[] truncatedRotationVector = new float[4];
            System.arraycopy(event.values, 0, truncatedRotationVector, 0, 4);
            update(truncatedRotationVector);
        } else {
            update(event.values);
        }
    }
}

private void update(float[] vectors) {
    final NumberFormat formatter = NumberFormat.getNumberInstance();
    formatter.setMinimumFractionDigits(5);
    formatter.setMaximumFractionDigits(5);

    float rads_to_Degrees = 57.29578F;

    float[] rotationMatrix = new float[9];
    SensorManager.getRotationMatrixFromVector(rotationMatrix, vectors);
    int worldAxisX = SensorManager.AXIS_X;
    int worldAxisZ = SensorManager.AXIS_Z;
    float[] adjustedRotationMatrix = new float[9];
    SensorManager.remapCoordinateSystem(rotationMatrix, worldAxisX, worldAxisZ, adjustedRotationMatrix);
    float[] orientation = new float[3];
    SensorManager.getOrientation(adjustedRotationMatrix, orientation);

    pitch = orientation[1]*rads_to_Degrees;
    roll = orientation[2]*rads_to_Degrees; // roll will be implemented later on
    pitch = Math.abs(pitch);
    roll = Math.abs(roll);

    outputPitch = (calibratedPitch - pitch);
    final double tanPitch = Math.tan(Math.toRadians(outputPitch));
    outputGrade = tanPitch * 100D;

    outputGradeDisplay.setText("Current grade " + String.format("%.2f",outputGrade) + "%");
}

---

您可以尝试快速且脏的低通滤波器：

private static final double K = 0.9;

private void update (..) {
  ...
  pitch     = K*lastPitch + (1.0 - K)*(Math.abs(orientation[1] * rads_to_Degrees); 
  lastPitch = pitch;
  ...
}

其中0.0