CoreMotion iOS陀螺儀使用

初始化CoreMotion

#import <CoreMotion/CoreMotion.h>

CMMotionManager *motionManager = [[CMMotionManager alloc]init];

1. Accelerometer 獲取手機加速度數據

CMAccelerometerData *newestAccel = motionManager.accelerometerData;

double accelerationX = newestAccel.acceleration.x;

double accelerationY = newestAccel.acceleration.y; 

double accelerationZ = newestAccel.acceleration.z;

2. Gravity 獲取手機的重力值在各個方向上的分量，根據這個就可以獲得手機的空間位置，傾斜角度等

double gravityX = motionManager.deviceMotion.gravity.x;

double gravityY = motionManager.deviceMotion.gravity.y; 

double gravityZ = motionManager.deviceMotion.gravity.z;

3.獲取手機的傾斜角度：

double zTheta = atan2(gravityZ,sqrtf(gravityX*gravityX+gravityY*gravityY))/M_PI*180.0; 

double xyTheta = atan2(gravityX,gravityY)/M_PI*180.0;

zTheta是手機與水平面的夾角， xyTheta是手機繞自身旋轉的角度

4. DeviceMotion 獲取陀螺儀的數據 包括角速度，空間位置等

//旋轉角速度：

CMRotationRate rotationRate = motionManager.deviceMotion.rotationRate;
double rotationX = rotationRate.x;
double rotationY = rotationRate.y;
double rotationZ = rotationRate.z;

5.空間位置的歐拉角（通過歐拉角可以算得手機兩個時刻之間的夾角，比用角速度計算精確地多）

double roll = motionManager.deviceMotion.attitude.roll; 

double pitch = motionManager.deviceMotion.attitude.pitch; 

double yaw = motionManager.deviceMotion.attitude.yaw;

6.空間位置的四元數（與歐拉角類似，但解決了萬向結死鎖問題）

double w = motionManager.deviceMotion.attitude.quaternion.w;

double wx = motionManager.deviceMotion.attitude.quaternion.x; 

double wy = motionManager.deviceMotion.attitude.quaternion.y; 

double wz = motionManager.deviceMotion.attitude.quaternion.z;