江苏省航海学会科研项目2015B10;江苏海事职业技术学院"千帆新锐"项目;江苏海事职业技术学院科技创新项目2015KJYB-05 Supported by the Project of Jiangsu Institute of Navigation2015B10;A New Project of Jiangsu Maritime Institute;Science and Technology Innova-tion Project of Jiangsu Maritime Institute2015KJYB-05