iOS-CoreMotion框架(加速仪与陀螺仪)

一:前言

CoreMotion框架

二:代码

1.导入框架

#import <CoreMotion/CoreMotion.h>
#define kUpdateInterval (1.f / 100.f) // 更新频率高一点

2.建立管理中心

    self.motionManager = [[CMMotionManager alloc]init];
    self.quene = [[NSOperationQueue alloc] init];
    self.motionManager.deviceMotionUpdateInterval = kUpdateInterval;
    [self.motionManager startDeviceMotionUpdatesToQueue:_quene withHandler:^(CMDeviceMotion * _Nullable motion, NSError * _Nullable error) {
        /*
         //1. Accelerometer 获取手机加速度数据
         motion.userAcceleration.x
         motion.userAcceleration.y
         motion.userAcceleration.z
         CMAccelerometerData *newestAccel = self.motionManager.accelerometerData;
         double accelerationX = newestAccel.acceleration.x;
         double accelerationY = newestAccel.acceleration.y;
         double accelerationZ = newestAccel.acceleration.z;
         //2.Gravity 获取手机的重力值在各个方向上的分量 根据这个就可以获得手机的空间位置倾斜角度等
         double gravityX = motion.gravity.x;
         double gravityY = motion.gravity.y;
         double gravityZ = motion.gravity.z;
         double zTheta = atan2(gravityZ,sqrtf(gravityX * gravityX + gravityY * gravityY)) / M_PI * 180.0;
         double xyTheta = atan2(gravityX, gravityY) / M_PI * 180.0;
         NSLog(@"手机与水平面的夹角 --- %.0f, 手机绕自身旋转的角度为 --- %.0f", zTheta, xyTheta);
         //3. DeviceMotion 获取陀螺仪的数据 包括角速度，空间位置等
         //旋转角速度
         double rotationX = motion.rotationRate.x;
         double rotationY = motion.rotationRate.y;
         double rotationZ = motion.rotationRate.z;
         //空间位置的欧拉角（通过欧拉角可以算得手机两个时刻之间的夹角，比用角速度计算精确地多）
         double roll = motion.attitude.roll;
         double pitch= motion.attitude.pitch;
         double yaw  = motion.attitude.yaw;
         //空间位置的四元数（与欧拉角类似，但解决了万向结死锁问题）
         double w =  motion.attitude.quaternion.w;
         double wx = motion.attitude.quaternion.x;
         double wy = motion.attitude.quaternion.y;
         double wz = motion.attitude.quaternion.z;
         */
        double gravityX = motion.gravity.x;
        double gravityY = motion.gravity.y;
        double gravityZ = motion.gravity.z;
        double zTheta = atan2(gravityZ,sqrtf(gravityX * gravityX + gravityY * gravityY)) / M_PI * 180.0;
        double xyTheta = atan2(gravityX, gravityY) / M_PI * 180.0;
        double rotation =  atan2(motion.gravity.x, motion.gravity.y) - M_PI;
    }];

3.图片(算手机与各种位置的夹角)

算手机与各种位置的夹角.PNG