1. State Key Laboratory of Deep-Sea Manned Vehicles, China Ship Scientific Research Center, Wuxi 214082, China
2. Taihu Laboratory of Deepsea Technological Science, Wuxi 214082, China
3. College of Underwater Acoustic Engineering, Harbin Engineering University, Harbin 150001, China
4. Key Laboratory of Marine Intelligent Equipment and System, Ministry of Education, Shanghai Jiao Tong University, Shanghai 200240, China
5. National Key Laboratory of Underwater Acoustic Technology, Harbin Engineering University, Harbin 150001, China