CoreMotion 加速器陀螺仪

初始化CoreMotion

#import <CoreMotion/CoreMotion.h>

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

1. Accelerometer 获取手机加速度数据

CMAccelerometerData *newestAccel = 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 = motionManager.deviceMotion.gravity.x;

double gravityY = motionManager.deviceMotion.gravity.y; 

double gravityZ = motionManager.deviceMotion.gravity.z;

3.获取手机的倾斜角度：

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

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

zTheta是手机与水平面的夹角， xyTheta是手机绕自身旋转的角度

4. DeviceMotion 获取陀螺仪的数据 包括角速度，空间位置等

//旋转角速度：

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

5.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 = motionManager.deviceMotion.attitude.roll; 

double pitch = motionManager.deviceMotion.attitude.pitch; 

double yaw = motionManager.deviceMotion.attitude.yaw;

6.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 = 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;