1. Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology, Dalian, Liaoning, China
2. State Key Laboratory of Navigation and Safety Technology, Shanghai Ship and Shipping Research Institute Co., Ltd., Shanghai, China
3. Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education, and the Professional Technology Innovation Center of Distributed Control for Industrial Equipment of Liaoning Province, Dalian University of Technology, Dalian, China