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//put these in variables so they can be adjusted for device calibration private double gravityConstantX = SensorManager.GRAVITY_EARTH; private double gravityConstantY = SensorManager.GRAVITY_EARTH; private double gravityConstantZ = SensorManager.GRAVITY_EARTH; double accX = -x/gravityConstantX; double accY = -y/gravityConstantY; double accZ = -z/gravityConstantZ; double totAcc = Math.sqrt((accX*accX)+(accY*accY)+(accZ*accZ)); double tiltXInGs = Math.asin(accX/totAcc); double tiltYInGs = Math.asin(accY/totAcc); double tiltZInGs = Math.asin(accZ/totAcc); //convert to rads, or something close, end up with the opposite angle double tiltX = Math.sin(tiltXInGs); double tiltY = Math.sin(tiltYInGs); double tiltZ = Math.sin(tiltZInGs); //use these angles to calculate gravity * -1 Double gx = (gravityConstantX * Math.sin(tiltX)); Double gy = (gravityConstantY * Math.sin(tiltY)); Double gz = (gravityConstantZ * Math.sin(tiltZ)); //add the resulting negative gravity and convert the result (acceleration of the phone relative to the ground) // to centimeters a second Integer resultx = metersToCentimeters(x + gx); Integer resulty = metersToCentimeters(y + gy); Integer resultz = metersToCentimeters(z + gz); //assuming the phone is held on it's back it seems to need this correction resultz -= 100;