1. Key Laboratory of Underwater Acoustic Communication and Marine Information Technology, Xiamen University, Xiamen 361005, China; Shenzhen Research Institute of Xiamen University, Shenzhen 518000, China; Dongshan Swire Marine Station, College of Ocean and Earth Sciences, Xiamen University, Xiamen 361102, China; State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2. Key Laboratory of Underwater Acoustic Communication and Marine Information Technology, Xiamen University, Xiamen 361005, China; Dongshan Swire Marine Station, College of Ocean and Earth Sciences, Xiamen University, Xiamen 361102, China
3. Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque, NM 87131, USA
4. Key Laboratory of Underwater Acoustic Communication and Marine Information Technology, Xiamen University, Xiamen 361005, China; Shenzhen Research Institute of Xiamen University, Shenzhen 518000, China; Dongshan Swire Marine Station, College of Ocean and Earth Sciences, Xiamen University, Xiamen 361102, China
5. College of Harbour and Coastal Engineering, Jimei University, Xiamen 361021, China