Abstract: Disclosed is a control method for an audio device, the audio device includes a wireless charging module and a display screen, and the control method for the audio device includes the following steps: in response to detecting a mobile device is placed on the audio device, acquiring a screen placement state of the mobile device, the screen placement state includes at least one of a screen flat state, a screen horizontal state and a screen vertical state; and displaying display content of the display screen on a screen of the mobile device according to the screen placement state. This disclosure further provides an audio device and a computer-readable storage medium. The problem that the display effect of the display screen of the audio device will be affected when the audio device performs wireless charging for the mobile device has been solved.

Abstract: Method and apparatus of integrating a three-axis magnetometer and a three-axis accelerometer to provide attitude and heading, calibrated magnetometer and accelerometer data, and angular rate, while removing sensor error sources over time and temperature and to compensate for hard and soft iron distortions of the Earth magnetic field. Filtered accelerometer data are corrected to account for various error sources. The magnetic heading is calculated from a horizontal magnetic field vector transformed from three dimensional Earth's magnetic field vector by using quasi-static roll and pitch angles from the filtered accelerometer data. A first Kalman filter estimates the state vector, based on the principle that the magnitude of local Earth's magnetic field vector is constant, to form hard and soft iron correction matrices.

Abstract: Method and apparatus of integrating a three-axis magnetometer and a three-axis accelerometer to provide attitude and heading, calibrated magnetometer and accelerometer data, and angular rate, while removing sensor error sources over time and temperature and to compensate for hard and soft iron distortions of the Earth magnetic field. Filtered accelerometer data are corrected to account for various error sources. The magnetic heading is calculated from a horizontal magnetic field vector transformed from three dimensional Earth's magnetic field vector by using quasi-static roll and pitch angles from the filtered accelerometer data. A first Kalman filter estimates the state vector, based on the principle that the magnitude of local Earth's magnetic field vector is constant, to form hard and soft iron correction matrices.