Gravity sensing data processing method for mobile terminal

Abstract

The invention relates to the field of comprehensive analysis and processing of gravity sensing data of mobile equipment, in particular to a gravity sensing data processing method for a mobile terminal, which comprises the following steps of: obtaining gravity sensing combined data by using gravity sensor data of the mobile terminal; establishing a gravity sensing three-dimensional unidirectional model according to the gravity sensing combined data; the gravity sensor data and the gravity sensing three-dimensional one-way model are utilized to obtain a gravity sensing data processing result, the concept of the three-dimensional one-way model is innovatively proposed, and subsequent characteristic comparison of the scheme is performed by means of the vertically downward characteristic of the physical characteristic of gravity, so that circulation and rapid verification of the logic of the scheme are realized.

Description

Technical Field

[0001] The present invention relates to the field of comprehensive analysis and processing of gravity sensing data of mobile devices, and in particular to a gravity sensing data processing method for a mobile terminal. Background Art

[0002] When analyzing gravity sensing data, traditional methods often ignore the complexity of three-dimensional space and only focus on the movement of the device in a single direction. In some cases, they can provide a quick solution, but they cannot fully capture the complexity of the movement of objects in the real world. Due to the lack of comprehensive consideration of all movement dimensions in three-dimensional space, this analysis process can easily lead to data distortion. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides a gravity sensing data processing method for a mobile terminal, which quickly and accurately analyzes the gravity sensing data status of a mobile device by establishing a three-dimensional coordinate model of numerical values ​​and corresponding features.

[0004] To achieve the above object, the present invention provides a gravity sensing data processing method for a mobile terminal, comprising: S1. Obtaining gravity sensing combined data using the gravity sensor data of the mobile terminal; S2. establishing a gravity sensing three-dimensional unidirectional model according to the gravity sensing combined data; S3. Obtaining a gravity sensing data processing result using the gravity sensor data and the gravity sensing three-dimensional unidirectional model.

[0005] Preferably, the step of obtaining gravity sensing combined data using gravity sensor data of the mobile terminal includes: S1-1, respectively acquiring real-time gravity acceleration data, real-time gravity data and real-time rotation vector data based on the gravity sensor data; S1-2, respectively obtaining data features of the real-time gravity acceleration data, data features of the real-time gravity data, and data features of the real-time rotation vector data according to the real-time gravity acceleration data, the real-time gravity data, and the real-time rotation vector data; S1-3. Utilize the real-time gravity acceleration data, real-time gravity data, real-time rotation vector data, data features of real-time gravity acceleration data, data features of real-time gravity data and data features of real-time rotation vector data as gravity sensing combined data.

[0006] Further, obtaining data features of real-time gravity acceleration data, data features of real-time gravity data, and data features of real-time rotation vector data respectively according to the real-time gravity acceleration data, the real-time gravity data, and the real-time rotation vector data includes: S1-2-1, using the corresponding time of the real-time gravity acceleration data as the standard data processing time t; S1-2-2, respectively obtain the gravity acceleration data at time t-1 and the gravity acceleration data at time t+1; S1-2-3, obtaining a change rate of gravity acceleration data as a first change rate based on the gravity acceleration data at time t-1 and the real-time gravity acceleration data at the standard data processing time t; S1-2-4, obtaining the change rate of gravity acceleration data as the second change rate based on the real-time gravity acceleration data at time t and the gravity acceleration data at time t+1 according to the standard data processing; S1-2-5, using the first change rate and the second change rate as data features of real-time gravity acceleration data; S1-2-6, respectively obtaining the real-time gravity data at time t-1 and the real-time gravity data at time t+1; S1-2-7, using the real-time gravity data at time t-1 and the standard data to process the real-time gravity data at time t to obtain a change trend of the gravity data as a first trend; S1-2-8. Using the standard data to process the real-time gravity data at time t and the real-time gravity data at time t+1, obtain a change trend of the gravity data as a second trend; S1-2-9, using the first trend and the second trend as data features of real-time gravity data; S1-2-10, respectively obtaining the real-time rotating vector data at time t-1 and the real-time rotating vector data at time t+1; S1-2-11, using the real-time rotating vector data at time t-1 and the real-time rotating vector data at time t of standard data processing to obtain the relative change angle of the rotating vector data as the first relative change angle; S1-2-12, using the standard data to process the real-time rotation vector data at time t and the real-time rotation vector data at time t+1 to obtain the relative change angle of the rotation vector data as the second relative change angle; S1-2-13. Use the first relative change angle and the second relative change angle as data features of real-time rotation vector data.

[0007] Furthermore, establishing a gravity sensing three-dimensional unidirectional model according to the gravity sensing combined data includes: Establishing a real-time motion three-dimensional model of gravity sensing using the real-time gravity acceleration data, real-time gravity data and real-time rotation vector data of the gravity sensing combined data; Establishing a numerical change model of gravity sensing by using the data features of the real-time gravity acceleration data, the data features of the real-time gravity data and the data features of the real-time rotation vector data; The real-time motion three-dimensional model and the numerical change model of gravity sensing are used as a three-dimensional one-way model of gravity sensing.

[0008] Furthermore, using the real-time gravity acceleration data, real-time gravity data and real-time rotation vector data of the gravity sensing combined data to establish a real-time motion three-dimensional model of gravity sensing includes: A basic motion three-dimensional coordinate system is established by using the corresponding time sequence of the real-time gravity acceleration data of the gravity sensing combined data as the X-axis, the value change of the real-time gravity data of the gravity sensing combined data as the Y-axis, and the corresponding motion direction of the real-time rotation vector data of the gravity sensing combined data as the Z-axis; Using the real-time gravity acceleration data, real-time gravity data and real-time rotation vector data of the gravity sensing combined data to establish a real-time three-dimensional vector of the gravity sensing combined data according to the basic motion three-dimensional coordinate system; Respectively obtain the real-time three-dimensional vector of the gravity sensing combined data corresponding to the real-time three-dimensional vector at time t-1 and the real-time three-dimensional vector at time t+1; The real-time three-dimensional vector at time t-1, the real-time three-dimensional vector and the real-time three-dimensional vector at time t+1 are used to obtain a real-time motion three-dimensional model of gravity sensing.

[0009] Furthermore, establishing a numerical change model of gravity sensing using the data features of the real-time gravity acceleration data, the data features of the real-time gravity data, and the data features of the real-time rotation vector data includes: A fixed Z-axis three-dimensional coordinate system of basic gravity sensing is established by using the data feature corresponding to the time series of the real-time gravity acceleration data as the X-axis, the data feature corresponding to the value change of the real-time gravity data as the Y-axis, and the data feature corresponding to the gravity direction of the real-time rotation vector data as the Z-axis; Establishing a real-time three-dimensional feature vector of gravity sensing by using the data features of the real-time gravity acceleration data, the data features of the real-time gravity data and the data features of the real-time rotation vector data; Respectively obtain the real-time three-dimensional feature vector of the gravity sensing corresponding to the real-time three-dimensional feature vector at time t-1 and the real-time three-dimensional feature vector at time t+1; The numerical change model of gravity sensing is obtained by using the real-time three-dimensional feature vector at time t-1, the real-time three-dimensional feature vector and the real-time three-dimensional feature vector at time t+1.

[0010] Furthermore, the gravity sensing data processing result obtained by using the gravity sensor data and the gravity sensing three-dimensional unidirectional model includes: S3-1, performing a numerical continuity calibration process on the gravity sensor data to obtain a numerical continuity calibration process result of the gravity sensor data; S3-2. Obtain a gravity sensing data processing result according to a gravity sensing three-dimensional unidirectional model by using the numerical continuity calibration processing result of the gravity sensor data.

[0011] Furthermore, the numerical continuity calibration processing of the gravity sensor data is performed using the gravity sensor data to obtain the numerical continuity calibration processing result of the gravity sensor data, including: S3-1-1, determine whether the gravity sensor data corresponding to the standard data processing time t is different from the gravity sensor data corresponding to the time t+1, if so, execute S3-1-2, otherwise, directly execute S3-1-3; S3-1-2, determine whether the gravity sensor data corresponding to the standard data processing time t is different from the gravity sensor data corresponding to the time t-1, if so, the numerical continuity calibration processing result of the time t-1, the standard data processing time t and the time t+1 is normal, otherwise, execute S3-1-3; S3-1-3, determine whether the direction of the real-time rotating vector data corresponding to the standard data processing time t is the same as the direction of the real-time rotating vector data corresponding to the time t+1, if so, re-acquire the direction of the real-time rotating vector data corresponding to the standard data processing time t, and return to S1-2-11, otherwise, execute S3-1-4; S3-1-4, determine whether the direction of the real-time rotating vector data corresponding to the standard data processing time t is the same as the direction of the real-time rotating vector data corresponding to the time t-1. If so, re-acquire the direction of the real-time rotating vector data corresponding to the standard data processing time t, and return to S1-2-12. Otherwise, the result of the numerical continuity calibration processing at the time t-1, the standard data processing time t and the time t+1 is abnormal, and the processing is abandoned; Among them, the difference is that the gravity sensor data corresponding to the standard data processing time t and the gravity sensor data corresponding to the time t+1 have opposite movement direction trends, and the same movement direction trend is that the movement direction trend at the next adjacent moment is within 45 degrees of the movement direction at the current moment.

[0012] Furthermore, the gravity sensing data processing result is obtained by using the numerical continuity calibration processing result of the gravity sensor data according to the gravity sensing three-dimensional unidirectional model, including: S3-2-1, determine whether the result of the numerical continuity calibration of the gravity sensor data is normal, if so, proceed to S3-2-2, otherwise, update the standard data processing time t, and return to S1-2-1; S3-2-2, determine whether the real-time motion three-dimensional model and the numerical change model corresponding to the gravity sensing three-dimensional unidirectional model at the standard data processing time t correspond to each other, if so, output the gravity sensing three-dimensional unidirectional model as the gravity sensing data processing result at the standard data processing time t, otherwise, execute S3-2-3; S3-2-3, determine whether the direction of the gravity sensing three-dimensional unidirectional model corresponding to the real-time motion three-dimensional model is the same as the direction of the numerical change model, if so, output the gravity sensing three-dimensional unidirectional model as the gravity sensing data processing result at the standard data processing time t, otherwise, return to S3-1-1; The motion three-dimensional model and the numerical change model correspond to each other as the internal vectors of the models at the same time.

[0013] Compared with the closest prior art, the present invention has the following beneficial effects: By combining the data collected by sensors to build a three-dimensional coordinate model, not only the numerical value of gravity data is considered, but also the relevant characteristics behind the data are analyzed. Comprehensive considerations improve the efficiency and accuracy of data processing, and innovatively propose the concept of a three-dimensional one-way model. With the help of the vertical downward characteristics of the physical characteristics of gravity, subsequent feature comparisons of the scheme are carried out, realizing the circulation and rapid verification of the scheme's own logic. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 The present invention provides a flowchart of a gravity sensing data processing method for a mobile terminal. DETAILED DESCRIPTION

[0015] The specific implementation modes of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0016] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] Embodiment 1: The present invention provides a gravity sensing data processing method for a mobile terminal, such as Figure 1 As shown, including: S1. Obtaining gravity sensing combined data using the gravity sensor data of the mobile terminal; S2. establishing a gravity sensing three-dimensional unidirectional model according to the gravity sensing combined data; S3. Obtaining a gravity sensing data processing result using the gravity sensor data and the gravity sensing three-dimensional unidirectional model.

[0018] S1 specifically includes: S1-1, respectively acquiring real-time gravity acceleration data, real-time gravity data and real-time rotation vector data based on the gravity sensor data; S1-2, respectively obtaining data features of the real-time gravity acceleration data, data features of the real-time gravity data, and data features of the real-time rotation vector data according to the real-time gravity acceleration data, the real-time gravity data, and the real-time rotation vector data; S1-3. Utilize the real-time gravity acceleration data, real-time gravity data, real-time rotation vector data, data features of real-time gravity acceleration data, data features of real-time gravity data and data features of real-time rotation vector data as gravity sensing combined data.

[0019] In this embodiment, a gravity sensing data processing method for a mobile terminal is provided, wherein the gravity acceleration data, gravity data and rotation vector data are collected and transmitted together through the following sensors, including: a motion sensor, an acceleration sensor, a gyroscope sensor, a gravity sensor, a linear acceleration sensor, and a rotation vector sensor.

[0020] S1-2 specifically includes: S1-2-1, using the corresponding time of the real-time gravity acceleration data as the standard data processing time t; S1-2-2, respectively obtain the gravity acceleration data at time t-1 and the gravity acceleration data at time t+1; S1-2-3, obtaining a change rate of gravity acceleration data as a first change rate based on the gravity acceleration data at time t-1 and the real-time gravity acceleration data at the standard data processing time t; S1-2-4, obtaining the change rate of gravity acceleration data as the second change rate based on the real-time gravity acceleration data at time t and the gravity acceleration data at time t+1 according to the standard data processing; S1-2-5, using the first change rate and the second change rate as data features of real-time gravity acceleration data; S1-2-6, respectively obtaining the real-time gravity data at time t-1 and the real-time gravity data at time t+1; S1-2-7, using the real-time gravity data at time t-1 and the standard data to process the real-time gravity data at time t to obtain a change trend of the gravity data as a first trend; S1-2-8. Using the standard data to process the real-time gravity data at time t and the real-time gravity data at time t+1, obtain a change trend of the gravity data as a second trend; S1-2-9, using the first trend and the second trend as data features of real-time gravity data; S1-2-10, respectively obtaining the real-time rotating vector data at time t-1 and the real-time rotating vector data at time t+1; S1-2-11, using the real-time rotating vector data at time t-1 and the real-time rotating vector data at time t of standard data processing to obtain the relative change angle of the rotating vector data as the first relative change angle; S1-2-12, using the standard data to process the real-time rotation vector data at time t and the real-time rotation vector data at time t+1 to obtain the relative change angle of the rotation vector data as the second relative change angle; S1-2-13. Use the first relative change angle and the second relative change angle as data features of real-time rotation vector data.

[0021] S2-1 specifically includes: S2-1-1, using the real-time gravity acceleration data, real-time gravity data and real-time rotation vector data of the gravity sensing combined data to establish a real-time motion three-dimensional model of gravity sensing; S2-1-2, establishing a numerical change model of gravity sensing using the data features of the real-time gravity acceleration data, the data features of the real-time gravity data, and the data features of the real-time rotation vector data; S2-1-3. Use the real-time motion three-dimensional model and the numerical change model of gravity sensing as a three-dimensional one-way model of gravity sensing.

[0022] S2-1-1 specifically includes: S2-1-1-1, using the corresponding time series of the real-time gravity acceleration data of the gravity sensing combined data as the X-axis, the real-time gravity data value change of the gravity sensing combined data as the Y-axis and the corresponding movement direction of the real-time rotation vector data of the gravity sensing combined data as the Z-axis to establish a basic motion three-dimensional coordinate system; S2-1-1-2, using the real-time gravity acceleration data, real-time gravity data and real-time rotation vector data of the gravity sensing combined data to establish a real-time three-dimensional vector of the gravity sensing combined data according to the basic motion three-dimensional coordinate system; S2-1-1-3, respectively obtaining the real-time three-dimensional vector of the gravity sensing combined data corresponding to the real-time three-dimensional vector at time t-1 and the real-time three-dimensional vector at time t+1; S2-1-1-4. Use the real-time three-dimensional vector at time t-1, the real-time three-dimensional vector and the real-time three-dimensional vector at time t+1 to obtain a real-time motion three-dimensional model of gravity sensing.

[0023] S2-1-2 specifically includes: S2-1-2-1, using the data characteristics corresponding to the time series of the real-time gravity acceleration data as the X-axis, the data characteristics corresponding to the value change of the real-time gravity data as the Y-axis, and the data characteristics corresponding to the gravity direction of the real-time rotation vector data as the Z-axis to establish a fixed Z-axis three-dimensional coordinate system for basic gravity sensing; S2-1-2-2, using the data features of the real-time gravity acceleration data, the data features of the real-time gravity data and the data features of the real-time rotation vector data to establish a real-time three-dimensional feature vector of gravity sensing; S2-1-2-3, respectively obtaining the real-time three-dimensional feature vector of the gravity sensing corresponding to the real-time three-dimensional feature vector at time t-1 and the real-time three-dimensional feature vector at time t+1; S2-1-2-4. Utilize the real-time three-dimensional feature vector at time t-1, the real-time three-dimensional feature vector and the real-time three-dimensional feature vector at time t+1 to obtain a numerical change model of gravity sensing.

[0024] S3 specifically includes: S3-1, performing a numerical continuity calibration process on the gravity sensor data to obtain a numerical continuity calibration process result of the gravity sensor data; S3-2. Obtain a gravity sensing data processing result according to a gravity sensing three-dimensional unidirectional model by using the numerical continuity calibration processing result of the gravity sensor data.

[0025] S3-1 specifically includes: S3-1-1, determine whether the gravity sensor data corresponding to the standard data processing time t is different from the gravity sensor data corresponding to the time t+1, if so, execute S3-1-2, otherwise, directly execute S3-1-3; S3-1-2, determine whether the gravity sensor data corresponding to the standard data processing time t is different from the gravity sensor data corresponding to the time t-1, if so, the numerical continuity calibration processing result of the time t-1, the standard data processing time t and the time t+1 is normal, otherwise, execute S3-1-3; S3-1-3, determine whether the direction of the real-time rotating vector data corresponding to the standard data processing time t is the same as the direction of the real-time rotating vector data corresponding to the time t+1, if so, re-acquire the direction of the real-time rotating vector data corresponding to the standard data processing time t, and return to S1-2-11, otherwise, execute S3-1-4; S3-1-4, determine whether the direction of the real-time rotating vector data corresponding to the standard data processing time t is the same as the direction of the real-time rotating vector data corresponding to the time t-1. If so, re-acquire the direction of the real-time rotating vector data corresponding to the standard data processing time t, and return to S1-2-12. Otherwise, the result of the numerical continuity calibration processing at the time t-1, the standard data processing time t and the time t+1 is abnormal, and the processing is abandoned; Among them, the difference is that the gravity sensor data corresponding to the standard data processing time t and the gravity sensor data corresponding to the time t+1 have opposite movement direction trends, and the same movement direction trend is that the movement direction trend at the next adjacent moment is within 45 degrees of the movement direction at the current moment.

[0026] S3-2 specifically includes: S3-2-1, determine whether the result of the numerical continuity calibration of the gravity sensor data is normal, if so, proceed to S3-2-2, otherwise, update the standard data processing time t, and return to S1-2-1; S3-2-2, determine whether the real-time motion three-dimensional model and the numerical change model corresponding to the gravity sensing three-dimensional unidirectional model at the standard data processing time t correspond to each other, if so, output the gravity sensing three-dimensional unidirectional model as the gravity sensing data processing result at the standard data processing time t, otherwise, execute S3-2-3; S3-2-3, determine whether the direction of the gravity sensing three-dimensional unidirectional model corresponding to the real-time motion three-dimensional model is the same as the direction of the numerical change model, if so, output the gravity sensing three-dimensional unidirectional model as the gravity sensing data processing result at the standard data processing time t, otherwise, return to S3-1-1; The motion three-dimensional model and the numerical change model correspond to each other as the internal vectors of the models at the same time.

[0027] In the present embodiment, a gravity sensing data processing method for a mobile terminal is provided, wherein the direction of the real-time motion three-dimensional model and the direction of the numerical change model involve the actual device motion direction. However, in the actual deployment of the solution, the actual definition of the direction can be adjusted to the angle between the motion direction and the gravity direction according to the accuracy requirements.

[0028] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0029] The present invention is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0030] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0031] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0032] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A gravity sensing data processing method for a mobile terminal, characterized in that: include: S1. Obtaining gravity sensing combined data using the gravity sensor data of the mobile terminal; S2. establishing a gravity sensing three-dimensional unidirectional model according to the gravity sensing combined data; S3. Obtaining a gravity sensing data processing result using the gravity sensor data and the gravity sensing three-dimensional unidirectional model.

2. A gravity sensing data processing method for a mobile terminal as claimed in claim 1, characterized in that: The method of obtaining gravity sensing combined data by using the gravity sensor data of the mobile terminal includes: S1-1, respectively acquiring real-time gravity acceleration data, real-time gravity data and real-time rotation vector data based on the gravity sensor data; S1-2, respectively obtaining data features of the real-time gravity acceleration data, data features of the real-time gravity data, and data features of the real-time rotation vector data according to the real-time gravity acceleration data, the real-time gravity data, and the real-time rotation vector data; S1-3. Utilize the real-time gravity acceleration data, real-time gravity data, real-time rotation vector data, data features of real-time gravity acceleration data, data features of real-time gravity data and data features of real-time rotation vector data as gravity sensing combined data.

3. A gravity sensing data processing method for a mobile terminal as claimed in claim 2, characterized in that: According to the real-time gravity acceleration data, the real-time gravity data and the real-time rotation vector data, respectively obtaining data features of the real-time gravity acceleration data, data features of the real-time gravity data and data features of the real-time rotation vector data includes: S1-2-1, using the corresponding time of the real-time gravity acceleration data as the standard data processing time t; S1-2-2, respectively obtain the gravity acceleration data at time t-1 and the gravity acceleration data at time t+1; S1-2-3, obtaining a change rate of gravity acceleration data as a first change rate based on the gravity acceleration data at time t-1 and the real-time gravity acceleration data at the standard data processing time t; S1-2-4, obtaining the change rate of gravity acceleration data as the second change rate based on the real-time gravity acceleration data at time t and the gravity acceleration data at time t+1 according to the standard data processing; S1-2-5, using the first change rate and the second change rate as data features of real-time gravity acceleration data; S1-2-6, respectively obtaining the real-time gravity data at time t-1 and the real-time gravity data at time t+1; S1-2-7, using the real-time gravity data at time t-1 and the standard data to process the real-time gravity data at time t to obtain a change trend of the gravity data as a first trend; S1-2-8. Using the standard data to process the real-time gravity data at time t and the real-time gravity data at time t+1, obtain a change trend of the gravity data as a second trend; S1-2-9, using the first trend and the second trend as data features of real-time gravity data; S1-2-10, respectively obtaining the real-time rotating vector data at time t-1 and the real-time rotating vector data at time t+1; S1-2-11, using the real-time rotating vector data at time t-1 and the real-time rotating vector data at time t of standard data processing to obtain the relative change angle of the rotating vector data as the first relative change angle; S1-2-12, using the standard data to process the real-time rotation vector data at time t and the real-time rotation vector data at time t+1 to obtain the relative change angle of the rotation vector data as the second relative change angle; S1-2-13. Use the first relative change angle and the second relative change angle as data features of real-time rotation vector data.

4. A gravity sensing data processing method for a mobile terminal as claimed in claim 2, characterized in that: Establishing a gravity sensing three-dimensional unidirectional model according to the gravity sensing combined data includes: Establishing a real-time motion three-dimensional model of gravity sensing using the real-time gravity acceleration data, real-time gravity data and real-time rotation vector data of the gravity sensing combined data; Establishing a numerical change model of gravity sensing by using the data features of the real-time gravity acceleration data, the data features of the real-time gravity data and the data features of the real-time rotation vector data; The real-time motion three-dimensional model and the numerical change model of gravity sensing are used as a three-dimensional one-way model of gravity sensing.

5. A gravity sensing data processing method for a mobile terminal as claimed in claim 4, characterized in that: Using the real-time gravity acceleration data, real-time gravity data and real-time rotation vector data of the gravity sensing combined data to establish a real-time motion three-dimensional model of gravity sensing includes: A basic motion three-dimensional coordinate system is established by using the corresponding time sequence of the real-time gravity acceleration data of the gravity sensing combined data as the X-axis, the value change of the real-time gravity data of the gravity sensing combined data as the Y-axis, and the corresponding motion direction of the real-time rotation vector data of the gravity sensing combined data as the Z-axis; Using the real-time gravity acceleration data, real-time gravity data and real-time rotation vector data of the gravity sensing combined data to establish a real-time three-dimensional vector of the gravity sensing combined data according to the basic motion three-dimensional coordinate system; Respectively obtain the real-time three-dimensional vector of the gravity sensing combined data corresponding to the real-time three-dimensional vector at time t-1 and the real-time three-dimensional vector at time t+1; The real-time three-dimensional vector at time t-1, the real-time three-dimensional vector and the real-time three-dimensional vector at time t+1 are used to obtain a real-time motion three-dimensional model of gravity sensing.

6. A gravity sensing data processing method for a mobile terminal as claimed in claim 5, characterized in that: Establishing a numerical change model of gravity sensing by using the data features of the real-time gravity acceleration data, the data features of the real-time gravity data and the data features of the real-time rotation vector data includes: A fixed Z-axis three-dimensional coordinate system of basic gravity sensing is established by using the data feature corresponding to the time series of the real-time gravity acceleration data as the X-axis, the data feature corresponding to the value change of the real-time gravity data as the Y-axis, and the data feature corresponding to the gravity direction of the real-time rotation vector data as the Z-axis; Establishing a real-time three-dimensional feature vector of gravity sensing by using the data features of the real-time gravity acceleration data, the data features of the real-time gravity data and the data features of the real-time rotation vector data; Respectively obtain the real-time three-dimensional feature vector of the gravity sensing corresponding to the real-time three-dimensional feature vector at time t-1 and the real-time three-dimensional feature vector at time t+1; The numerical change model of gravity sensing is obtained by using the real-time three-dimensional feature vector at time t-1, the real-time three-dimensional feature vector and the real-time three-dimensional feature vector at time t+1.

7. A gravity sensing data processing method for a mobile terminal as claimed in claim 3, characterized in that: The gravity sensing data processing result obtained by using the gravity sensor data and the gravity sensing three-dimensional unidirectional model includes: S3-1, performing a numerical continuity calibration process on the gravity sensor data to obtain a numerical continuity calibration process result of the gravity sensor data; S3-2. Obtain a gravity sensing data processing result according to a gravity sensing three-dimensional unidirectional model by using the numerical continuity calibration processing result of the gravity sensor data.

8. A gravity sensing data processing method for a mobile terminal as claimed in claim 7, characterized in that: The numerical continuity calibration processing of the gravity sensor data is performed using the gravity sensor data to obtain the numerical continuity calibration processing result of the gravity sensor data, including: S3-1-1, determine whether the gravity sensor data corresponding to the standard data processing time t is different from the gravity sensor data corresponding to the time t+1, if so, execute S3-1-2, otherwise, directly execute S3-1-3; S3-1-2, determine whether the gravity sensor data corresponding to the standard data processing time t is different from the gravity sensor data corresponding to the time t-1, if so, the numerical continuity calibration processing result of the time t-1, the standard data processing time t and the time t+1 is normal, otherwise, execute S3-1-3; S3-1-3, determine whether the direction of the real-time rotating vector data corresponding to the standard data processing time t is the same as the direction of the real-time rotating vector data corresponding to the time t+1, if so, re-acquire the direction of the real-time rotating vector data corresponding to the standard data processing time t, and return to S1-2-11, otherwise, execute S3-1-4; S3-1-4, determine whether the direction of the real-time rotating vector data corresponding to the standard data processing time t is the same as the direction of the real-time rotating vector data corresponding to the time t-1. If so, re-acquire the direction of the real-time rotating vector data corresponding to the standard data processing time t, and return to S1-2-12. Otherwise, the result of the numerical continuity calibration processing at the time t-1, the standard data processing time t and the time t+1 is abnormal, and the processing is abandoned; Among them, the difference is that the gravity sensor data corresponding to the standard data processing time t and the gravity sensor data corresponding to the time t+1 have opposite movement direction trends, and the same movement direction trend is that the movement direction trend at the next adjacent moment is within 45 degrees of the movement direction at the current moment.

9. A gravity sensing data processing method for a mobile terminal as claimed in claim 8, characterized in that: The gravity sensing data processing result obtained by using the numerical continuity calibration processing result of the gravity sensor data according to the gravity sensing three-dimensional unidirectional model includes: S3-2-1, determine whether the result of the numerical continuity calibration of the gravity sensor data is normal, if so, proceed to S3-2-2, otherwise, update the standard data processing time t, and return to S1-2-1; S3-2-2, determine whether the real-time motion three-dimensional model and the numerical change model corresponding to the gravity sensing three-dimensional unidirectional model at the standard data processing time t correspond to each other, if so, output the gravity sensing three-dimensional unidirectional model as the gravity sensing data processing result at the standard data processing time t, otherwise, execute S3-2-3; S3-2-3, determine whether the direction of the gravity sensing three-dimensional unidirectional model corresponding to the real-time motion three-dimensional model is the same as the direction of the numerical change model, if so, output the gravity sensing three-dimensional unidirectional model as the gravity sensing data processing result at the standard data processing time t, otherwise, return to S3-1-1; The motion three-dimensional model and the numerical change model correspond to each other as the internal vectors of the models at the same time.

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