1. School of Navigation, Wuhan University of Technology, Wuhan, China
2. Hubei Key Laboratory of Inland Shipping Technology, Wuhan, China
3. School of Computer Science and Technology, Wuhan University of Technology, Wuhan, China
4. Electronic, Electrical and Systems Engineering, University of Birmingham, Birmingham, UK
5. School of Electrical and Electronic Engineering, Huazhong University of Science and Technology, Wuhan, China