1. School of Electronic and Control Engineering, Chang’an University, Xi’an 710064, China
2. School of Intelligent Systems Engineering, Sun Yat-Sen University, Guangzhou 510275, China
3. Guangdong Province Key Laboratory of Fire Science and Technology, Guangzhou 510006, China
4. School of Information Engineering, Chang’an University, Xi’an 710064, China
5. China Communications Information Technology Group Co., Ltd, Beijing 100088, China