1. Department of Navigation, Dalian Naval Academy, Dalian 116018, China
2. College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China
3. Qingdao Innovation and Development Center of Harbin Engineering University, Qingdao 266400, China
4. Qingdao Innovation and Development Base of Harbin Engineering University, Harbin Engineering University, Qingdao 266000, China