1. School of Navigation, Wuhan University of Technology, Wuhan 430063, China
2. Hubei Key Laboratory of Inland Shipping Technology, Wuhan 430063, China
3. School of Mathematics and Computer Science, Wuhan Polytechnic University, Wuhan 430048, China
4. Intelligent Transportation System Research Center, Wuhan University of Technology, Wuhan 430063, China
5. State Key Laboratory of Maritime Technology and Safety, Wuhan University of Technology, Wuhan 430063, China
6. Department of Earth Sciences, Uppsala University, 75236 Uppsala, Sweden