SHAN Guangcun Beihang University;Wang Hongyu Beihang University (Beijing University of Aeronautics and Astronautics);Liang Wei School of Electronic, Electrical and Communication Engineering, University of Chinese Academy of Sciences;Liu Congcong Yantai Yundu Haiying UAV Application Technology Co., Ltd.,;MA Qizhi School of Instrumentation Science and Optoelectronics Engineering Beihang University;Quan Quan Beihang University