国家重点研发计划"现代服务业共性关键技术研发及应用示范"重点专项2017YFB1400700;国家自然科学基金61672083, 61370190;北京市自然科学基金4182033;北航金华北斗应用研究院开放资金 BARI1702 National Key Research and Development Program of China2017YFB1400700;National Natural Science Foundation of China61672083, 61370190;Natural Science Foundation of Beijing Municipality4182033;Fund of BeiDou Application Research Institute at Jinhua, Beihang UniversityBARI1702