The algorithm utilizes screw vector to represent rotation and translation and updates attitude and velocity simultaneously.The kinematic equations based on dual quaternion are deduced in SINS.

• 算法利用螺旋矢量描述空间中的旋转和平移，推导出对偶四元数表示的导航运动学方程，同时对载体的姿态、速度进行更新。