1. Navigation College, Dalian Maritime University, Dalian 116026, China
2. Key Laboratory of Safety & Security Technology for Autonomous Shipping, Dalian University, Dalian 116024, China
3. Department of Civil Engineering, Delft University of Technology, 2628 CD Delft, The Netherlands
4. Shanghai Ship and Shipping Research Institute Co., Ltd., Shanghai 200135, China
5. College of Physics and Electronic Information Engineering, Minjiang University, Minhou County, Fuzhou 350108, China