1. College of Information Science and Technology, Qingdao University of Science and Technology, Qingdao, China
2. Department of Internet of Things Engineering, Hohai University, Changzhou, China
3. Institute of Acoustics, Chinese Academy of Sciences, Beijing, China
4. College of Ocean and Earth Sciences and the National and Local Joint Engineering Research Center for Navigation and Location Service Technology, Xiamen University, Xiamen, China