1. Unmanned System Research Institute, Northwestern Polytechnical University, Xi'an 710072, China.
2. College of Science, Binzhou University, Binzhou 256600, China, and also with the School of Mathematics and Statistics, Qilu University of Technology, Jinan 250353, China.
3. School of Computer and Information Technology, Shanxi University, Taiyuan 030006, China.
4. School of Artificial Intelligence, Optics and Electronics, Northwestern Polytechnical University, Xi'an 710072, China.
5. School of Computer Science and Engineering, South China University of Technology, Guangzhou 510641, China, and also with the Navigation College, Dalian Maritime University, Dalian 116026, China.