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Asked: 2026-05-24T04:06:02+00:00

I am developing an application for Android where I need to remove gravity from

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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?

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1 Answer

  1. Editorial Team

    For a basic solution you would need a low pass filter other approaches like a Kalman filter are pretty tough regarding the maths behind. A simple example for Android is one click away from your link at http://developer.android.com/reference/android/hardware/SensorEvent.html#values.

    Simply spoken a low pass filter builds a weighted average from all your history values. If you have for example a filtering factor of 0.1 it means that 10% of your current value is added to the previous mean value: newMeanValue = 10% of currentValue + 90% of oldMeanValue. That means even if there is an abrupt peak it will only push your mean value slowly because of the 10%.

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