问题 To get orientation as a from of euler angles (e.g., pitch, roll, azimuth) in Android, it is required to execute followings: SensorManager.getRotationMatrix(float[] R, float[] I, float[] gravity, float[] geomagnetic); SensorManager.getOrientation(float[] R, float[] orientation); In the first one, I realize that it uses a kind of TRIAD algorithms; Rotation matrix (R[]) is composed of gravity, geomagnetic X gravity, gravity X (geomagnetic X gravity) --- X is cross product. See codes below: float