Acknowledgement
This research is a part of the project titled "SMART-Navigation project," funded by the Ministry of Oceans and Fisheries, the National Natural Science Foundation of China (61873071, 51911540478, G61773015), key research and development plan of Shandong province (2019JZZY020712), Natural Science Foundation of Shandong Jiaotong University [Z201631], Shandong Jiaotong University PhD Startup foundation of Scientific Research.
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