1. Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan 430063, China
2. Tianjin Research Institute for Water Transport Engineering, M. O. T., Tianjin 300456, China
3. College of Maritime, Beibu Gulf University, Qinzhou 535000, China
4. State Key Laboratory of Maritime Technology and Safety, Wuhan University of Technology, Wuhan 430063, China
5. National Engineering Research Center for Water Transport Safety (WTSC), Wuhan University of Technology, Wuhan 430063, China
6. Tianjin Maritme Safety Administration, Tianjin 300211, China