1. School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, People’s Republic of China
2. LadHyX, Ecole Polytechnique, CNRS, Institute Polytechnique de Paris, 91128 Palaiseau, France
3. Key Laboratory for Unmanned Underwater Vehicle, Northwestern Polytechnical University, Xi’an 710072, People’s Republic of China