Does Android Rotation Vector Sensor use the magnetometer readings?

Question

As known, the so-called "Rotation Vector Sensor" is a virtual sensor.

I know for sure that it takes the readings from accelerometer and gyroscope for computation.

However, now I wish to know whether the magnetometer readings are also take into the calculation of the Rotation Vector Sensor?

Answer 1

The relation constitutes to

The rotation vector sensor reports the orientation of the device relative to the East-North-Up coordinates frame.

The underlying physical sensors are Accelerometer, Magnetometer, and Gyroscope, while the latter is used as the main orientation change input. Furthermore source.android.com says

This sensor also uses accelerometer and magnetometer input to make up for gyroscope drift, and it cannot be implemented using only the accelerometer and magnetometer.

In contrary the Game rotation vector explicitly only uses the Accelerometer and Gyroscope. I asked a similar question on how the data is acutally fused, yet to be answered. The link also directs to this table

Answer 2

Yes, rotation vector is a combination of the accelerometer, the magnetometer, and sometimes the gyroscope to determine the three-dimensional angle along which the Android device lays with respect to the Earth frame coordinates.