1. Institute of Smart Marine and Engineering, Fujian University of Technology, Fuzhou 350118, China
2. College of Ocean and Earth Sciences, Xiamen University, Xiamen 361002, China
3. National and Local Joint Engineering Research Center for Navigation and Location Service Technology, Xiamen University, Xiamen 361002, China
4. Institute of Artificial Intelligence, Xiamen University, Xiamen 361002, China