1. State Key Laboratory of Maritime Technology and Safety, Wuhan University of Technology, Wuhan 430070, China
2. National Engineering Research Center for Water Transport Safety, Wuhan University of Technology, Wuhan 430070, China
3. Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan 430070, China
4. Guangxi Key Laboratory of Ocean Engineering Equipment and Technology, Beibu Gulf University, Qinzhou 535011, China
5. Key Laboratory of Beibu Gulf Offshore Engineering Equipment and Technology, Beibu Gulf University, Qinzhou 535011, China
6. Department of Mechanics and Maritime Sciences, Chalmers University of Technology, SE-412 96 Gothenburg, Sweden