[1] Northwestern Polytech Univ, Sch Marine Sci & Technol, Key Lab Unmanned Underwater Vehicle, Xian 710072, Peoples R China
[2] CSSC Syst Engn Res Inst, Beijing 100000, Peoples R China
[3] Wuhan second Ship Design & Res Inst, Wuhan 430205, Peoples R China
[4] Peking Univ, Coll Engn, Dept Aeronaut & Astronaut, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China