1. School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, P.R. China
2. Key Laboratory for Unmanned Underwater Vehicle, Northwestern Polytechnical University, Xi’an, P.R. China
3. College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, P.R. China
4. China North Vehicle Research Institute, Beijing, P.R. China