Android Gravity sensor data denoising method

public void Onsensorchanged (Sensorevent event)     {          final float alpha = 0.8;          GRAVITY[0] = Alpha * Gravity[0] + (1-alpha) * event.values[0];          GRAVITY[1] = Alpha * Gravity[1] + (1-alpha) * event.values[1];          GRAVITY[2] = Alpha * gravity[2] + (1-alpha) * event.values[2];          Linear_acceleration[0] = event.values[0]-gravity[0];          LINEAR_ACCELERATION[1] = event.values[1]-gravity[1];          LINEAR_ACCELERATION[2] = event.values[2]-gravity[2];      }

The difference equation of the system by the above code is described as:

The system transfer function is:

The effect is as follows:

Summarize:

The essence is to construct a first-order filter, which is implemented in Android by iterative iteration. If you have the basics of digital signal processing, it can be easily understood.

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Android Gravity sensor data denoising method