Android开发通过加速度传感器和陀螺仪计算出当前设备方位代码

下面是通过加速度传感器和陀螺仪传感器计算设备方位的代码示例：

public class MainActivity extends AppCompatActivity implements SensorEventListener {

    private SensorManager mSensorManager;
    private Sensor mAccelerometer;
    private Sensor mGyroscope;
    private float[] mAccelerometerData = new float[3];
    private float[] mGyroscopeData = new float[3];
    private float[] mRotationMatrix = new float[9];
    private float[] mOrientationAngles = new float[3];

    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_main);

        mSensorManager = (SensorManager) getSystemService(Context.SENSOR_SERVICE);
        mAccelerometer = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
        mGyroscope = mSensorManager.getDefaultSensor(Sensor.TYPE_GYROSCOPE);
    }

    @Override
    protected void onResume() {
        super.onResume();
        mSensorManager.registerListener(this, mAccelerometer, SensorManager.SENSOR_DELAY_NORMAL);
        mSensorManager.registerListener(this, mGyroscope, SensorManager.SENSOR_DELAY_NORMAL);
    }

    @Override
    protected void onPause() {
        super.onPause();
        mSensorManager.unregisterListener(this);
    }

    @Override
    public void onSensorChanged(SensorEvent event) {
        switch (event.sensor.getType()) {
            case Sensor.TYPE_ACCELEROMETER:
                mAccelerometerData = event.values.clone();
                break;
            case Sensor.TYPE_GYROSCOPE:
                mGyroscopeData = event.values.clone();
                break;
        }

        SensorManager.getRotationMatrix(mRotationMatrix, null, mAccelerometerData, mGyroscopeData);
        SensorManager.getOrientation(mRotationMatrix, mOrientationAngles);

        // 将弧度转化为角度，并保留两位小数
        float azimuth = (float) Math.toDegrees(mOrientationAngles[0]);
        float pitch = (float) Math.toDegrees(mOrientationAngles[1]);
        float roll = (float) Math.toDegrees(mOrientationAngles[2]);

        // 更新UI界面，展示设备的方位
        // ...
    }

    @Override
    public void onAccuracyChanged(Sensor sensor, int accuracy) {
    }
}

在代码中，首先注册了加速度传感器和陀螺仪传感器，并在传感器的回调函数中获取传感器数据，并使用`SensorManager.getRotationMatrix()`和`SensorManager.getOrientation()`方法分别计算出设备的旋转矩阵和方位角度。最后将方位角度转化为角度并更新UI界面。