1. School of Computer Science, Chongqing University, Chongqing, China
2. Beidou Application Research and Development Department, North Information Control Research Academy Group Company Ltd., Nanjing, China
3. State Key Laboratory of Internet of Things for Smart City and the Department of Electrical and Computer Engineering, University of Macau, Macau, China
4. Computer Science Department, The City University of Hong Kong, Hong Kong, China
5. State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing, China