借鉴成熟的姿态四元数积分的双速算法结构，设计了一个数值积分算法求解以上三个运动学方程，构建了基于对偶四元数的捷联惯性导航算法。
Borrowing the traditional two-speed approach originally developed in conventional attitude integration, we design one new numerical integration algorithm to solve the three kinematic equations.
对于由两自由度陀螺构成的冗余捷联惯性测量系统（RSIMS）来说，边缘向量检测（EVT）是一种非常重要和实用的冗余管理算法。
The Edge Vector Test (EVT) is a very important and practical redundant management algorithm for Redundant Strapdown Inertial Measurement Sys-tems (RSIMS) composed of Two Degree of Freedom gyros.
数十年来，四元数及其解法成功地应用于捷联惯性导航和制导系统中，成为经典的算法。
Quaternion method, which has been successfully applied to the Strapdown Inertial Navigation and Guidance for tens year, is classical.
详细描述了捷联惯性导航系统（SINS）中加速度计和陀螺数据仿真的方法，并给出了求解扰动重力的算法。
The simulative methods about the data of accelerator and gyro embedded in SINS are described in detail, and the algorithm about the disturbing gravity is presented.
详细描述了捷联惯性导航系统（SINS）中加速度计和陀螺数据仿真的方法，并给出了求解扰动重力的算法。
The simulative methods about the data of accelerator and gyro embedded in SINS are described in detail, and the algorithm about the disturbing gravity is presented.
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