1. Unmanned System Research Institute, Northwestern Polytechnical University, Xi’an 710072, China
2. National Key Laboratory of Unmanned Aerial Vehicle Technology, Integrated Research and Development Platform of Unmanned Aerial Vehicle Technology, Northwestern Polytechnical University, Xi’an 710072, China
3. Ministry of Education Key Laboratory of Micro and Nano Systems for Aerospace, School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, China
4. College of Information Science and Technology, Donghua University, Shanghai 201620, China