1. College of Electromechanical Engineering, Qingdao University of Science and Technology, Qingdao, Shandong, China
2. Research and Consulting Center, China COSCO SHIPPING Corporation Limited, Beijing, China
3. Qingdao Aids to Navigation Department, Beihai Navigation Safely Administration, Qingdao, Shandong, China
4. School of Aerospace Engineering, Tsinghua University, Beijing, China