1. Shanghai Jiao Tong University Sanya Yazhou Bay Institute of Deepsea Science and Technology, , Sanya 572024 , China ;
2. Shanghai Jiao Tong University State Key Lab of Ocean Engineering, , Shanghai 200240 , China
3. Norwegian University of Science and Technology Department of Marine Technology, Centre for Autonomous Marine Operations and Systems, , Trondheim 7491 , Norway ;
4. Ningbo University , Ningbo , China