when building an application for Android, I've noticed that the rotation vector sensor gives readings that are off. The phone's rotation is reported a little bit tilted.

When investigating, I found that the accelerometer pointing along the x-axis is offset by approximately -0.02.

Here is a chart of the coordinate axis to help the issue:

Android sensor coordinate frame

Here is a picture of the measurements I took:


First, I assumed an device-specific hardware issue, but the issue is still present on a second replacement device.

Is this issue known? How could I calibrate the sensor to remove the offset?

  • You've got this too? I also noticed this when using Google Cardboard. It slowly moves away to a side, and after time it moved a whole circle.
    – Thomas Vos
    Jul 6, 2016 at 18:10
  • The issue for cardboard is probably just gyro drift which is quite normal. With this issue, however, the horizon is tilted.
    – Emiswelt
    Jul 6, 2016 at 18:16

1 Answer 1


I have this too, and likewise it has persisted after getting a replacement device. It interferes with panoramas and photospheres, cardboard and the like. No idea on a fix. I think I'll do a second replacement.

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