android remove gravity from accelerometer readings

Question

I am developing an application for Android where I need to remove gravity from accelerometer readings. I have read multiple discussions on this problem, I have also found an algorithm here, but I didn't really understand it.

I want to filter gravity from each axis, not from the total acceleration.

Could you please help me out? My code should be something like:

public void onSensorChanged(SensorEvent sensorEvent) {
    float vals[] = sensorEvent.values;
    float accelerationX = filterGravity(vals[0]);
    float accelerationY = filterGravity(vals[1]);
    float accelerationZ = filterGravity(vals[2]);
}

What code should I place in the filterGravity() method?

android remove gravity from accelerometer readings

4 Answers