基金The authors would like to thank three anony- mous reviewers for their constructive and insightful comments which helped to significantly improve this manuscript. The authors would also like to thank associate professor TONG Xiaochong at the Institute of Surveying andMapping, Information Engineering University, China for generous plvviding C ＋ ＋ source code and test program of HQBS. This research was supported by the National Natural Science Foundation of China （Grant No. 41671410）, the Postdoctoral Science Foundation of China （Grant No. 2013T60161）, and the Excellent Young Scholar Foundation o fin formation Engineering Univer- sity （Grant No. 2016610802）.