1. School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072, China
2. Key Laboratory for Unmanned Underwater Vehicle, Northwestern Polytechnical University, Xi'an 710072, China
3. Unmanned Vehicle Innovation Center, Ningbo Institute of NPU, Ningbo 315105, China
4. College of Food Science and Engineering, Northwest A&F University, Yangling 712100, Shaanxi, China