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.
介绍了四元数法的基本原理及其在捷联系统中的用法；
The basic theory and the usage of quaternion are also been introduced.
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.
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