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.
然后又重点对航姿数据的获取方法和控制率进行了研究，设计出用双矢量法改进的捷联航姿解算方案和模糊pd控制方法。
Attitude and then focus on methods of data acquisition and control rates were studied, designed a two-vector method with improved AHRS Solution program and fuzzy PD control method.
文中双参数算法可用于常规雷达，参差雷达与捷变频雷达。
The two_parameter algorithm was applied to classic, frequence_agile and staggered PRI radar signals.
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