1. Navigation Collage, Jimei University, Xiamen 361021, China
2. Hangzhou Microimage Software Co., Ltd., Hangzhou 310051, China
3. Key Laboratory of Underwater Acoustic Communication and Marine Information Technology (Xiamen University), Ministry Education, Xiamen 361005, China
4. School of Ocean Information Engineering, Jimei University, Xiamen 361021, China
5. Department of Information and Communication Engineering, Xiamen University, Xiamen 361005, China