1. National Key Lab of Autonomous Intelligent Unmanned Systems, Beijing Intitute of Technology, Beijing, China
2. National Key Lab of Autonomous Intelligent Unmanned Systems, Beijing Institute of Technology, Beijing, China
3. Signal and Communication Research Institute, China Academy of Railway Sciences Corporation Limited, Beijing, China
4. Traffic Management Laboratory for High-Speed Railway, National Engineering Research Center of System Technology for High-Speed Railway and Urban Rail Transit, Beijing, China