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In order to visualize singularity of SGCMGs in gimbal angle space, a novel continuous bounded singularity parameter--Singularity Radius, whose sign can distinctly determine singularity type, is proposed. Then a rapid singularity-escape steering law is proposed basing on gradient of Singularity Radius and residual base vector to drive the SGCMG system to neighboring singular boundary, and quickly escape elliptic singularities. Finally, simulation results on Pyramid-type and skew-type configuration demonstrate the effectiveness and rapidness of the proposed steering law.