1. College of Information and Communication Engineering, Harbin Engineering University, Harbin, China
2. Laboratory of Deep-Sea Information Technology, Institute of Deep-Sea Science and Engineering, Chinese Academy of Sciences, Sanya, China
3. Institute of Systems Engineering, AMS, PLA, Beijing, China
4. School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China
5. Laboratory of Survey Control, Xinjiang Institute of Technology, Akesu, China