在框架的1.3版本中，用单一aspect代替了这80多个调用，该A spect自动记录参数和返回值以及方法入口和出口。

In version 1.3 of the framework, these 80 calls have been replaced with a single aspect that automatically logs both parameters and return values along with method entries and exits.

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用等价预测碰撞线代替预测碰撞线，只需要探测视线的角速度，使需要探测的参数减少。文中还提出了外扰动常驻条件下，渐近稳定系统的设计方法。

If predicted collision courses are replaced with equivalent collis'on courses, this method only needs to measure the rotation rate of the Line-of-Sight, therefore, the measured parameters are reduced.

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该方法用存贮图象的几何中心位置和相应的圆环参数值代替了传统的图象匹配法中需要存贮图象全部信息的方式，克服了数据压缩所带来的诸多麻烦。

In the method, we store the geometric centers and the values of the ring-data other than storing all information used in traditional method. Many difficulties to press data have been overcome.

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