基金Project(51779052)supported by the National Natural Science Foundation of ChinaProject(QC2016062)supported by the Natural Science Foundation of Heilongjiang Province,China+2 种基金Project(614221503091701)supported by the Research Fund from Science and Technology on Underwater Vehicle Laboratory,ChinaProject(LBH-Q17046)supported by the Heilongjiang Postdoctoral Funds for Scientific Research Initiation,ChinaProject(HEUCFP201741)supported by the Fundamental Research Funds for the Central Universities,China