1. National Engineering Research Center for Water Transport Safety, Wuhan University of Technology, Wuhan 430063, China
2. Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan 430063, China
3. State Key Laboratory of Maritime Technology and Safety, Wuhan University of Technology, Wuhan 430063, China
4. Eighth Research Institute of China State Shipbuilding Corporation Limited, Nanjing 211153, China