1. School of Transportation, Fujian University of Technology, Fuzhou 350118, China
2. Fujian Engineering Research Center of Safety Control for Ship Intelligent Navigation, College of Physics and Electronic Information Engineering, Minjiang University, Fuzhou 350108, China
3. College of Computer and Data Science, Minjiang University, Fuzhou 350108, China
4. Fuzhou Institute of Oceanography, Minjiang University, Fuzhou 350108, China
5. Fuzhou Aids to Navigation Division of Eastern Navigation Services Center, China Maritime Safety Administration, Fuzhou 350004, China