1. Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan 430063, China
2. National Engineering Research Center Water Transport Safety, Wuhan University of Technology, Wuhan 430063, China
3. Carl von Ossietzky Universität Oldenburg, German Aerospace Center, 26121 Oldenburg, Germany
4. Marine Technology, Department of Mechanical Engineering, Aalto University, 02150 Espoo, Finland