1. School of Software, North University of China, Taiyuan 030051, China
2. Shanxi Software Engineering Technology Research Center, Taiyuan 030051, China
3. The General Staff, Beijing Armed Police Corps, Beijing 100027, China
4. Beijing Institute of Aerospace Control Devices, Beijing 100039, China
5. Key Laboratory of Instrumentation Science & Dynamic Measurement, Ministry of Education, North University of China, Taiyuan 030051, China