1. School of Navigation, the National Engineering Research Center for Water Transport Safety, and the Hubei Key Laboratory of Inland Shipping Technology, Wuhan University of Technology, Wuhan, China
2. School of Navigation, Wuhan University of Technology, Wuhan, China
3. School of Information Engineering, Wuhan University of Technology, Wuhan, China
4. School of Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan, China