1. School of Electronics and Information, Northwestern Polytechnical University, Xi’an, China
2. National Engineering Laboratory for Integrated Aero-Space-Ground-Ocean Big Data Application Technology, Xi’an, China
3. Patent Examination Cooperation Hubei Center of Patent Office, Wuhan, China
4. Unmanned System Research Institute, Northwestern Polytechnical University, Xi’an, China
5. Department of Computer Science, North Carolina State University, Raleigh, USA