1. School of Navigation, Wuhan University of Technology, Wuhan, China
2. Hubei Key Laboratory of Inland Shipping Technology, Wuhan, China
3. Electronic and Electrical Engineering, University of Birmingham, Birmingham, UK
4. School of Electrical and Electronic Engineering, Huazhong University of Science & Technology, Wuhan, China
5. National Engineering Research Center for Water Transport Safety, Wuhan, China
6. Intelligent Transport Systems Research Center, Wuhan University of Technology, Wuhan, China