Can you help me reverse the Minimum Curvature Method?

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The minimum curvature method is used in oil drilling to calculate positional data from directional data. A survey is a reading at a certain depth down the borehole that contains measured depth, inclination, and azimuth. Two consecutive surveys (directional data) can then be used to calculate the position of the second survey in x,y,z terms (northing, easting, true vertical depth).

This part is fairly straight-forward. However, I would like to reverse the Minimum Curvature method in order to take two consecutive points, and calculate the directional values for one of the points.

The equations for the Minimum Curvature method are here: http://www.relps.com/faq/MinimumCurvatureEquations.pdf

My knowns are A1, I1, North, East, and TVD. I am trying to solve for A2, I2, and MD.

I have tried to use a number of tools to solve systems of equations, but without any luck. Can you help?