This paper studies comparatively dual Euler method and quaternion method which are used for the solution of the singularity of the Euler equation.

对解决欧拉方程奇异性的双欧法和四元数法进行了对比研究。

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So, dual Euler method is better than quaternion method in the solution of the singularity of the Euler equation.

因此，对于解决欧拉方程奇异性来讲，双欧法要优于四元数法。

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Both are expected to facilitate the future dual quaternion-based integrated navigation filter.

这两个误差模型可用来搭建基于对偶四元数的组合导航滤波器。

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