1. College of Electrical Engineering and Automation, Shandong University of Science and Technology, 74789 Qingdao, Shandong, China, 266510 (e-mail: wangyz_sdust@163.com)
2. Department of Information Systems and Computing, Brunel University, Uxbridge, Middlesex, United Kingdom of Great Britain and Northern Ireland, UB8 3PH (e-mail: zidong.wang@brunel.ac.uk)
3. Department of Computer Science, Brunel University London, 3890 Uxbridge, United Kingdom of Great Britain and Northern Ireland, UB8 3PH (e-mail: zouleicup@gmail.com)
4. Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin, China, (e-mail: shiningdhl@gmail.com)