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.
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.
在捷联惯导系统中，可以用四元数来表示姿态矩阵，而姿态矩阵的计算是捷联惯导系统的关键问题之一。
Attitude matrix is represented by quaternion and the calculation of attitude matrix is a key in Strapdown INS.
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