1. College of Ocean and Spatial Information, China University of Petroleum, Qingdao, Shandong 266580, China
2. Beijing Key Laboratory of Mobile Computing and Pervasive Device, Institute of Computing Technology, Chinese Academy of Science, Beijing, China
3. National Key Laboratory of Science and Technology on Electronic Test and Measurement, The 41st Research Institute of China Electronic Science and Technology Group Corporation, Qingdao, China
4. Graduate School of Engineering, Kitami Institute of Technology, Kitami, Hokkaido 090–8507, Japan