1. College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China
2. College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China
3. Heilongjiang Provincial Key Laboratory of Environment Intelligent Perception, Harbin 150001, China
4. Key Laboratory of Intelligent Technology and Application of Marine Equipment, Harbin Engineering University, Ministry of Education, Harbin 150001, China