As the number of space objects(SO)increases,collision avoidance problem in the rendezvous tasks or reconstellation of satellites with SO has been paid more attention,and the dangerous area of a possible collision shou...As the number of space objects(SO)increases,collision avoidance problem in the rendezvous tasks or reconstellation of satellites with SO has been paid more attention,and the dangerous area of a possible collision should be derived.In this paper,a maneuvering method is proposed for avoiding collision with a space debris object in the phasing orbit of the initial optimal solution.Accordingly,based on the plane of eccentricity vector components,relevant dangerous area which is bounded by two parallel lines is formulated.The axises of eccentricity vector system pass through the end of eccentricity vector of phasing orbit in the optimal solution,and orientation of axis depends on the latitude argument where a collision will occur.The dangerous area is represented especially with the graphical dialogue,and it allows to find a compromise between the SO avoiding and the fuel consumption reduction.The proposed method to solve the collision avoidance problem provides simplicity to calculate rendezvous maneuvers,and possibility to avoid collisions from several collisions or from“slow”collisions in a phasing orbit,when the protected spacecraft and the object fly dangerously close to each other for a long period.展开更多
It is known that detecting small moving objects in as- tronomical image sequences is a significant research problem in space surveillance. The new theory, compressive sensing, pro- vides a very easy and computationall...It is known that detecting small moving objects in as- tronomical image sequences is a significant research problem in space surveillance. The new theory, compressive sensing, pro- vides a very easy and computationally cheap coding scheme for onboard astronomical remote sensing. An algorithm for small moving space object detection and localization is proposed. The algorithm determines the measurements of objects by comparing the difference between the measurements of the current image and the measurements of the background scene. In contrast to reconstruct the whole image, only a foreground image is recon- structed, which will lead to an effective computational performance, and a high level of localization accuracy is achieved. Experiments and analysis are provided to show the performance of the pro- posed approach on detection and localization.展开更多
An optimizing method of observation scheduling based on time-division multiplexing is proposed in this paper,and its efficiency is verified by outdoor experiments. The initial observation scheduling is first obtained ...An optimizing method of observation scheduling based on time-division multiplexing is proposed in this paper,and its efficiency is verified by outdoor experiments. The initial observation scheduling is first obtained by using a semi-random search algorithm,and secondly the connection time pair（ CTP） between adjacent objects is optimized by using a genetic algorithm. After obtaining these two parameters,the final observation scheduling can be obtained. According to pre-designed tracks between each adjacent objects in observation order,the seamless observation of neighboring targets is derived by automatically steering the antenna beam,so the observation efficiency is improved.展开更多
This paper deals with the re-entry predictions of the space objects from the low eccentric orbit. Any re-entering object re-enters the Earth’s atmosphere with a high orbital velocity. Due to the aerodynamic heating t...This paper deals with the re-entry predictions of the space objects from the low eccentric orbit. Any re-entering object re-enters the Earth’s atmosphere with a high orbital velocity. Due to the aerodynamic heating the object tends to break into multiple fragments which later pose a great risk hazard to the population. Here a satellite is considered as the space object for which the re-entry prediction is made. This prediction is made with a package where the trajectory path, the time of re-entry and the survival rate of the fragments is done. The prediction is done using DRAMA 2.0—ESA’s Debris Risk Assessment and Mitigation Analysis Tool suite, MATLAB and Numerical Prediction of Orbital Events software. The predicted re-entry time of OSIRIS 3U was found to be on 7th March 2019, 7:25 (UTC), whereas the actual re-entry time was on 7th March 2019, 7:03 (UTC). The trajectory path found was 51.5699 deg. (Lat), −86.5738 deg. (Long.) with an altitude of 168.643 km. But the actual trajectory was 51.76 deg. (Lat), −89.01deg. (Long.) with an altitude of 143.5 km.展开更多
The limited space around the Earth is getting cluttered with leftover fragments from old missions,creating a real challenge.As more satellites are launched,even debris pieces as small as 5 mm must be tracked to avoid ...The limited space around the Earth is getting cluttered with leftover fragments from old missions,creating a real challenge.As more satellites are launched,even debris pieces as small as 5 mm must be tracked to avoid collisions.However,it is an arduous and challenging task in space.This paper presents a technical exploration of ground-based and in-orbit space debris tracking and orbit determination methods.It highlights the challenges faced during on-ground and in-orbit demonstrations,identifies current gaps,and proposes solutions following technological advancements,such as low-power pose estimation methods.Owing to the numerous atmospheric barriers to ground-based sensors,this study emphasizes the significance of spaceborne sensors for precise orbit determination,complemented by advanced data processing algorithms and collaborative efforts.The ultimate goal is to create a comprehensive catalog of resident space objects(RSO)around the Earth and promote space environment sustainability.By exploring different methods and finding innovative solutions,this study contributes to the protection of space for future exploration and the creation of a more transparent and precise map of orbital objects.展开更多
With the undergoing and planned implementations of mega constellations of thousands of Low Earth Orbiting(LEO)satellites,space will become even more congested for satellite operations.The enduring effects on the long-...With the undergoing and planned implementations of mega constellations of thousands of Low Earth Orbiting(LEO)satellites,space will become even more congested for satellite operations.The enduring effects on the long-term space environment have been investigated by various researchers using debris environment models.This paper is focused on the imminent short-term effects of LEO mega constellations on the space operation environment concerned by satellite owners and operators.The effects are measured in terms of the Close Approaches(CAs)and overall collision probability.Instead of using debris environment models,the CAs are determined from integrated orbit positions,and the collision probability is computed for each CA considering the sizes and position covariance of the involving objects.The obtained results thus present a clearer picture of the space operation safety environment when LEO mega constellations are deployed.Many mega constellations are simulated,including a Starlink-like constellation of 1584 satellites,four possible generic constellations at altitudes between 1110 km and 1325 km,and three constellations of 1584 satellites each at the altitudes of 650 km,800 km,and 950 km,respectively,where the Resident Space Object(RSO)spatial density is the highest.The increases in the number of CAs and overall collision probability caused by them are really alarming.The results suggest that highly frequent orbital maneuvers are required to avoid collisions between existing RSOs and constellation satellites,and between satellites from two constellations at a close altitude,as such the constellation operation burden would be very heavy.The study is not only useful for satellite operators but a powerful signal for various stakeholders to pay serious attention to the development of LEO mega constellations.展开更多
The application of high-performance imaging sensors in space-based space surveillance systems makes it possible to recognize space objects and estimate their poses using vision-based methods. In this paper, we propose...The application of high-performance imaging sensors in space-based space surveillance systems makes it possible to recognize space objects and estimate their poses using vision-based methods. In this paper, we proposed a kernel regression-based method for joint multi-view space object recognition and pose estimation. We built a new simulated satellite image dataset named BUAA-SID 1.5 to test our method using different image representations. We evaluated our method for recognition-only tasks, pose estimation-only tasks, and joint recognition and pose estimation tasks. Experimental results show that our method outperforms the state-of-the-arts in space object recognition, and can recognize space objects and estimate their poses effectively and robustly against noise and lighting conditions.展开更多
A soitable data model and data structure make underground survey objects maintained and operated easier. This paper gives a formal definition for underground survey objects. By making use of the quotient topological s...A soitable data model and data structure make underground survey objects maintained and operated easier. This paper gives a formal definition for underground survey objects. By making use of the quotient topological space, the author studies the logical relations among underground survey objects, a partiallyordered space uuder some conditions. An example is given to show the data model’s possible applications.展开更多
A scheduling model of closely spaced parallel runways for arrival aircraft was proposed,with multi-objections of the minimum flight delay cost,the maximum airport capacity,the minimum workload of air traffic controlle...A scheduling model of closely spaced parallel runways for arrival aircraft was proposed,with multi-objections of the minimum flight delay cost,the maximum airport capacity,the minimum workload of air traffic controller and the maximum fairness of airlines′scheduling.The time interval between two runways and changes of aircraft landing order were taken as the constraints.Genetic algorithm was used to solve the model,and the model constrained unit delay cost of the aircraft with multiple flight tasks to reduce its delay influence range.Each objective function value or the fitness of particle unsatisfied the constrain condition would be punished.Finally,one domestic airport hub was introduced to verify the algorithm and the model.The results showed that the genetic algorithm presented strong convergence and timeliness for solving constraint multi-objective aircraft landing problem on closely spaced parallel runways,and the optimization results were better than that of actual scheduling.展开更多
Considering the defects of conventional optimization methods, a novel optimization algorithm is introduced in this paper. Target space partitioning method is used in this algorithm to solve multi-objective optimizatio...Considering the defects of conventional optimization methods, a novel optimization algorithm is introduced in this paper. Target space partitioning method is used in this algorithm to solve multi-objective optimization problem, thus achieve the coherent solution which can meet the requirements of all target functions, and improve the population's overall evolution level. The algorithm which guarantees diversity preservation and fast convergence to the Pareto set is applied to structural optimization problems. The empirical analysis supports the algorithm and gives an example with program.展开更多
Space is a common entity in any static or dynamic system of objects whether the system is a bound system or an open system. Space is described by either measured or abstract dimensions. All motions, momentum and energ...Space is a common entity in any static or dynamic system of objects whether the system is a bound system or an open system. Space is described by either measured or abstract dimensions. All motions, momentum and energy transfers take place in space in any given system of objects. By understanding space we understand many physical phenomena happening in space. One method is to observe similarities among phenomena, deduce possible relations and validate the relations through known results. De Broglie wavelength for matter waves is a typical theorized abstract dimension existence of which is established through experiments later. In this paper, the author studies two bound spaces in two bound systems, namely, atomic bound systems and gravitationally bound systems. Both these bound systems have similar characteristics;they have inertial masses in motion with constant kinetic energies for a given orbital distance around the respective central object. In atomic bound space, the central object is the central positive charge which plays the role of creating the bound space around it. In gravitationally bound space, it is the central mass that plays the same role. Thus for these two bound systems a common constitutive relation between the energies of inertial masses in kinetic state, their distance from central object could be present. By noticing the similarities of the two systems, the author proposes such a relation through introduction of an additional space dimension. The existence of the proposed additional dimension is proved in this paper by considering hydrogen atom for atomic bound space and by considering any gravitational system for gravitationally bound space. Though the magnitude of the additional space dimension is different in both the situations, the additional space dimension exists. It is observed that in hydrogen atom the additional space dimension is a constant for the given positive charge of hydrogen atom when electron is in any energy state having principal quantum number of any value from 1 to 5 and with the orbital quantum number zero. For other quantum numbers additional space dimension exists. In the case of gravitational bound space, the additional space dimension is constant for a given mass of the central object for any energy of orbiting inertial mass. The author concludes that total mass energy of an inertial mass having a constant kinetic energy in any bound space is related to an additional space dimension defined by the constitutional property of the central object creating that bound space. As the relation is generic, it throws opportunity to examine other known similar macro, micro or quantum bound spaces created by central objects with different constitutive properties.展开更多
This paper mainly focuses on the issues about generic multi-scale object perception for detection or recognition. A novel computational model in visually-feature space is presented for scene & object representatio...This paper mainly focuses on the issues about generic multi-scale object perception for detection or recognition. A novel computational model in visually-feature space is presented for scene & object representation to purse the underlying textural manifold statistically in nonparametric manner. The associative method approximately makes perceptual hierarchy in human-vision biologically coherency in specific quad-tree-pyramid structure, and the appropriate scale-value of different objects can automatically be selected by evaluating from well-defined scale function without any priori knowledge. The sufficient experiments truly demonstrate the effectiveness of scale determination in textural manifold with object localization rapidly.展开更多
Herein an estimation is given to the efficiency of nuclear explosive devices in a space-rocket complex to withdraw Hazardous Space Objects （HS0）-asteroids and cometary nuclei from the trajectories leading to their d...Herein an estimation is given to the efficiency of nuclear explosive devices in a space-rocket complex to withdraw Hazardous Space Objects （HS0）-asteroids and cometary nuclei from the trajectories leading to their dangerous entry to the atmosphere and falling to the Earth. A conceptual choice of parameters and schemes of application of nuclear explosive devices in impact modules of space-rocket complexes to ensure asteroidal-cometary safety was made.展开更多
Space-based optical(SBO)space surveillance has attracted widespread interest in the last two decades due to its considerable value in space situation awareness(SSA).SBO observation strategy,which is related to the per...Space-based optical(SBO)space surveillance has attracted widespread interest in the last two decades due to its considerable value in space situation awareness(SSA).SBO observation strategy,which is related to the performance of space surveillance,is the top-level design in SSA missions reviewed.The recognized real programs about SBO SAA proposed by the institutions in the U.S.,Canada,Europe,etc.,are summarized firstly,from which an insight of the development trend of SBO SAA can be obtained.According to the aim of the SBO SSA,the missions can be divided into general surveillance and space object tracking.Thus,there are two major categories for SBO SSA strategies.Existing general surveillance strategies for observing low earth orbit(LEO)objects and beyond-LEO objects are summarized and compared in terms of coverage rate,revisit time,visibility period,and image processing.Then,the SBO space object tracking strategies,which has experienced from tracking an object with a single satellite to tracking an object with multiple satellites cooperatively,are also summarized.Finally,this paper looks into the development trend in the future and points out several problems that challenges the SBO SSA.展开更多
基金This work is supported and funded by NSFC(Natural Science Foundation of China)[No.51905272].
文摘As the number of space objects(SO)increases,collision avoidance problem in the rendezvous tasks or reconstellation of satellites with SO has been paid more attention,and the dangerous area of a possible collision should be derived.In this paper,a maneuvering method is proposed for avoiding collision with a space debris object in the phasing orbit of the initial optimal solution.Accordingly,based on the plane of eccentricity vector components,relevant dangerous area which is bounded by two parallel lines is formulated.The axises of eccentricity vector system pass through the end of eccentricity vector of phasing orbit in the optimal solution,and orientation of axis depends on the latitude argument where a collision will occur.The dangerous area is represented especially with the graphical dialogue,and it allows to find a compromise between the SO avoiding and the fuel consumption reduction.The proposed method to solve the collision avoidance problem provides simplicity to calculate rendezvous maneuvers,and possibility to avoid collisions from several collisions or from“slow”collisions in a phasing orbit,when the protected spacecraft and the object fly dangerously close to each other for a long period.
基金supported by the National Natural Science Foundation of China (60903126)the China Postdoctoral Special Science Foundation (201003685)+1 种基金the China Postdoctoral Science Foundation (20090451397)the Northwestern Polytechnical University Foundation for Fundamental Research (JC201120)
文摘It is known that detecting small moving objects in as- tronomical image sequences is a significant research problem in space surveillance. The new theory, compressive sensing, pro- vides a very easy and computationally cheap coding scheme for onboard astronomical remote sensing. An algorithm for small moving space object detection and localization is proposed. The algorithm determines the measurements of objects by comparing the difference between the measurements of the current image and the measurements of the background scene. In contrast to reconstruct the whole image, only a foreground image is recon- structed, which will lead to an effective computational performance, and a high level of localization accuracy is achieved. Experiments and analysis are provided to show the performance of the pro- posed approach on detection and localization.
基金Supported by the National Natural Science Foundation of China(61271373,61571043)111 Project of China(B14010)
文摘An optimizing method of observation scheduling based on time-division multiplexing is proposed in this paper,and its efficiency is verified by outdoor experiments. The initial observation scheduling is first obtained by using a semi-random search algorithm,and secondly the connection time pair（ CTP） between adjacent objects is optimized by using a genetic algorithm. After obtaining these two parameters,the final observation scheduling can be obtained. According to pre-designed tracks between each adjacent objects in observation order,the seamless observation of neighboring targets is derived by automatically steering the antenna beam,so the observation efficiency is improved.
文摘This paper deals with the re-entry predictions of the space objects from the low eccentric orbit. Any re-entering object re-enters the Earth’s atmosphere with a high orbital velocity. Due to the aerodynamic heating the object tends to break into multiple fragments which later pose a great risk hazard to the population. Here a satellite is considered as the space object for which the re-entry prediction is made. This prediction is made with a package where the trajectory path, the time of re-entry and the survival rate of the fragments is done. The prediction is done using DRAMA 2.0—ESA’s Debris Risk Assessment and Mitigation Analysis Tool suite, MATLAB and Numerical Prediction of Orbital Events software. The predicted re-entry time of OSIRIS 3U was found to be on 7th March 2019, 7:25 (UTC), whereas the actual re-entry time was on 7th March 2019, 7:03 (UTC). The trajectory path found was 51.5699 deg. (Lat), −86.5738 deg. (Long.) with an altitude of 168.643 km. But the actual trajectory was 51.76 deg. (Lat), −89.01deg. (Long.) with an altitude of 143.5 km.
文摘The limited space around the Earth is getting cluttered with leftover fragments from old missions,creating a real challenge.As more satellites are launched,even debris pieces as small as 5 mm must be tracked to avoid collisions.However,it is an arduous and challenging task in space.This paper presents a technical exploration of ground-based and in-orbit space debris tracking and orbit determination methods.It highlights the challenges faced during on-ground and in-orbit demonstrations,identifies current gaps,and proposes solutions following technological advancements,such as low-power pose estimation methods.Owing to the numerous atmospheric barriers to ground-based sensors,this study emphasizes the significance of spaceborne sensors for precise orbit determination,complemented by advanced data processing algorithms and collaborative efforts.The ultimate goal is to create a comprehensive catalog of resident space objects(RSO)around the Earth and promote space environment sustainability.By exploring different methods and finding innovative solutions,this study contributes to the protection of space for future exploration and the creation of a more transparent and precise map of orbital objects.
基金the National Natural Science Foundation of China[Grant No.41874035]the National Natural Science Foundation of China[Grant No.12103035]+1 种基金the Natural Science Foundation of Hubei province,China[Grant No.2020CFB396]the Fundamental Research Funds for the Central Universities,China[Grant No.2042021kf0001].
文摘With the undergoing and planned implementations of mega constellations of thousands of Low Earth Orbiting(LEO)satellites,space will become even more congested for satellite operations.The enduring effects on the long-term space environment have been investigated by various researchers using debris environment models.This paper is focused on the imminent short-term effects of LEO mega constellations on the space operation environment concerned by satellite owners and operators.The effects are measured in terms of the Close Approaches(CAs)and overall collision probability.Instead of using debris environment models,the CAs are determined from integrated orbit positions,and the collision probability is computed for each CA considering the sizes and position covariance of the involving objects.The obtained results thus present a clearer picture of the space operation safety environment when LEO mega constellations are deployed.Many mega constellations are simulated,including a Starlink-like constellation of 1584 satellites,four possible generic constellations at altitudes between 1110 km and 1325 km,and three constellations of 1584 satellites each at the altitudes of 650 km,800 km,and 950 km,respectively,where the Resident Space Object(RSO)spatial density is the highest.The increases in the number of CAs and overall collision probability caused by them are really alarming.The results suggest that highly frequent orbital maneuvers are required to avoid collisions between existing RSOs and constellation satellites,and between satellites from two constellations at a close altitude,as such the constellation operation burden would be very heavy.The study is not only useful for satellite operators but a powerful signal for various stakeholders to pay serious attention to the development of LEO mega constellations.
基金co-supported by the National Natural Science Foundation of China (Grant Nos. 61371134, 61071137)the National Basic Research Program of China (No. 2010CB327900)
文摘The application of high-performance imaging sensors in space-based space surveillance systems makes it possible to recognize space objects and estimate their poses using vision-based methods. In this paper, we proposed a kernel regression-based method for joint multi-view space object recognition and pose estimation. We built a new simulated satellite image dataset named BUAA-SID 1.5 to test our method using different image representations. We evaluated our method for recognition-only tasks, pose estimation-only tasks, and joint recognition and pose estimation tasks. Experimental results show that our method outperforms the state-of-the-arts in space object recognition, and can recognize space objects and estimate their poses effectively and robustly against noise and lighting conditions.
文摘A soitable data model and data structure make underground survey objects maintained and operated easier. This paper gives a formal definition for underground survey objects. By making use of the quotient topological space, the author studies the logical relations among underground survey objects, a partiallyordered space uuder some conditions. An example is given to show the data model’s possible applications.
文摘A scheduling model of closely spaced parallel runways for arrival aircraft was proposed,with multi-objections of the minimum flight delay cost,the maximum airport capacity,the minimum workload of air traffic controller and the maximum fairness of airlines′scheduling.The time interval between two runways and changes of aircraft landing order were taken as the constraints.Genetic algorithm was used to solve the model,and the model constrained unit delay cost of the aircraft with multiple flight tasks to reduce its delay influence range.Each objective function value or the fitness of particle unsatisfied the constrain condition would be punished.Finally,one domestic airport hub was introduced to verify the algorithm and the model.The results showed that the genetic algorithm presented strong convergence and timeliness for solving constraint multi-objective aircraft landing problem on closely spaced parallel runways,and the optimization results were better than that of actual scheduling.
基金National Natural Science Foundations of China (No. 60970004, No. 60743010)Natural Science Foundation of ShandongProvince, China (No. Z2008G02)
文摘Considering the defects of conventional optimization methods, a novel optimization algorithm is introduced in this paper. Target space partitioning method is used in this algorithm to solve multi-objective optimization problem, thus achieve the coherent solution which can meet the requirements of all target functions, and improve the population's overall evolution level. The algorithm which guarantees diversity preservation and fast convergence to the Pareto set is applied to structural optimization problems. The empirical analysis supports the algorithm and gives an example with program.
文摘Space is a common entity in any static or dynamic system of objects whether the system is a bound system or an open system. Space is described by either measured or abstract dimensions. All motions, momentum and energy transfers take place in space in any given system of objects. By understanding space we understand many physical phenomena happening in space. One method is to observe similarities among phenomena, deduce possible relations and validate the relations through known results. De Broglie wavelength for matter waves is a typical theorized abstract dimension existence of which is established through experiments later. In this paper, the author studies two bound spaces in two bound systems, namely, atomic bound systems and gravitationally bound systems. Both these bound systems have similar characteristics;they have inertial masses in motion with constant kinetic energies for a given orbital distance around the respective central object. In atomic bound space, the central object is the central positive charge which plays the role of creating the bound space around it. In gravitationally bound space, it is the central mass that plays the same role. Thus for these two bound systems a common constitutive relation between the energies of inertial masses in kinetic state, their distance from central object could be present. By noticing the similarities of the two systems, the author proposes such a relation through introduction of an additional space dimension. The existence of the proposed additional dimension is proved in this paper by considering hydrogen atom for atomic bound space and by considering any gravitational system for gravitationally bound space. Though the magnitude of the additional space dimension is different in both the situations, the additional space dimension exists. It is observed that in hydrogen atom the additional space dimension is a constant for the given positive charge of hydrogen atom when electron is in any energy state having principal quantum number of any value from 1 to 5 and with the orbital quantum number zero. For other quantum numbers additional space dimension exists. In the case of gravitational bound space, the additional space dimension is constant for a given mass of the central object for any energy of orbiting inertial mass. The author concludes that total mass energy of an inertial mass having a constant kinetic energy in any bound space is related to an additional space dimension defined by the constitutional property of the central object creating that bound space. As the relation is generic, it throws opportunity to examine other known similar macro, micro or quantum bound spaces created by central objects with different constitutive properties.
文摘This paper mainly focuses on the issues about generic multi-scale object perception for detection or recognition. A novel computational model in visually-feature space is presented for scene & object representation to purse the underlying textural manifold statistically in nonparametric manner. The associative method approximately makes perceptual hierarchy in human-vision biologically coherency in specific quad-tree-pyramid structure, and the appropriate scale-value of different objects can automatically be selected by evaluating from well-defined scale function without any priori knowledge. The sufficient experiments truly demonstrate the effectiveness of scale determination in textural manifold with object localization rapidly.
文摘Herein an estimation is given to the efficiency of nuclear explosive devices in a space-rocket complex to withdraw Hazardous Space Objects （HS0）-asteroids and cometary nuclei from the trajectories leading to their dangerous entry to the atmosphere and falling to the Earth. A conceptual choice of parameters and schemes of application of nuclear explosive devices in impact modules of space-rocket complexes to ensure asteroidal-cometary safety was made.
基金This work was supported by the National Natural Science Foundation of China(61690210,61690213).
文摘Space-based optical(SBO)space surveillance has attracted widespread interest in the last two decades due to its considerable value in space situation awareness(SSA).SBO observation strategy,which is related to the performance of space surveillance,is the top-level design in SSA missions reviewed.The recognized real programs about SBO SAA proposed by the institutions in the U.S.,Canada,Europe,etc.,are summarized firstly,from which an insight of the development trend of SBO SAA can be obtained.According to the aim of the SBO SSA,the missions can be divided into general surveillance and space object tracking.Thus,there are two major categories for SBO SSA strategies.Existing general surveillance strategies for observing low earth orbit(LEO)objects and beyond-LEO objects are summarized and compared in terms of coverage rate,revisit time,visibility period,and image processing.Then,the SBO space object tracking strategies,which has experienced from tracking an object with a single satellite to tracking an object with multiple satellites cooperatively,are also summarized.Finally,this paper looks into the development trend in the future and points out several problems that challenges the SBO SSA.
