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.

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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.

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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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