[Li, Mingran; Zhou, Chunhui; Tang, Wuao; Zhang, Fan] Wuhan Univ Technol, Sch Nav, Wuhan 430063, Peoples R China.
[Li, Mingran; Huang, Hongxun; Zhou, Chunhui; Tang, Wuao; Zhang, Fan] Hubei Key Lab Inland Shipping Technol, Wuhan 430063, Peoples R China.
[Huang, Liang; Wen, Yuanqiao] Wuhan Univ Technol, Intelligent Transportat Syst Res Ctr, Wuhan 430063, Peoples R China.
[Huang, Liang; Wen, Yuanqiao] Wuhan Univ Technol, Natl Engn Res Ctr Water Transport Safety, Wuhan 430063, Peoples R China.
[Huang, HX; Huang, Hongxun] Wuhan Polytech Univ, Sch Math & Comp Sci, Wuhan 430048, Peoples R China.