Attitude calculation method and relevant devices

The embodiment of the invention discloses an attitude calculation method, and relevant devices. The method is used for acquiring an accurate real-time terminal attitude. The attitude calculation method in the embodiment of the invention is applied to a terminal, and the terminal is provided with a magnetometer, an accelerometer and a gyroscope. The method comprises the following steps: acquiring magnetometer data collected by the magnetometer and accelerator data collected by the accelerometer in a first sampling period, and calculating a first terminal attitude and a first attitude change rate; determining the initial attitude of the gyroscope, acquiring gyroscope data collected by the gyroscope, and calculating a second terminal attitude and a second attitude change rate; calculating theattitude credibility according to the first attitude change rate and the second attitude change rate; and fusing the first terminal attitude and the second terminal attitude according to the adjustment of the attitude credib