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IMU Orientation

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Here are two good Android references on this topic:

https://developer.android.com/guide/topics/sensors/sensors_motion.html

See the section on how to use the Rotation Vector Sensor.

https://developer.android.com/guide/topics/sensors/sensors_position.html

For the purposes of sensor orientation in Android, the diagram below gives the X / Y / Z orientation with respect to the user wearing the glasses :

Orientation_R-7.png

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