1. Wuhan University of Technology (WUT),the School of Navigation,Wuhan,China,430063
2. Wuhan University of Technology, Wuhan, PR china,the Intelligent Transportation Systems Research Center, WUT, State Key Laboratory of Maritime Technology and Safety,Wuhan,China,430063
3. Wuhan University of Technology, Wuhan, PR china,the School of Navigation, Wuhan University of Technology (WUT), State Key Laboratory of Maritime Technology and Safety,Wuhan,China,430063
4. Wuhan University of Technology (WUT),the School of Transportation and Logistics Engineering,Wuhan,China,430063
5. Zhejiang Scientific Research Institute of Transport Dalongjuwu 705, Xihu District,Hangzhou City,Zhejiang,China