1. Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan 430063, China
2. Fujian Engineering Research Center of Safety Control for Ship Intelligent Navigation, College of Physics & Electronic Information Engineering, Minjiang University, Fuzhou 35021, China
3. National Engineering Research Center for Water Transport Safety, Wuhan 430063, China
4. School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan 430063, China
5. Institute of Oceanography, Minjiang University, Fuzhou 35021, China