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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而原始-对偶内点法完全可以很好地解决由于发电机转子运动方程的引入带来的大量约束问题，具有极好的收敛特性。

The primal-dual interior point method can solve effectively the problem with a lot of constraints resulting from the motion equations of the generator rotors with the result of perfect convergence.

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