## 1 Introduction  
The marine fishery is an integral part of the global marine economy and an essential link in the marine industry [1, 2]. With the development of global marine fisheries, each country has many fishing vessels and fishery workers, and the environment of fishing vessels' sea operations and routes is becoming increasingly complicated [3]. China has the most significant number of fishing vessels and fishery workers globally, and its fishery production activities are spreading over the world's major sea areas [4, 5]. However, the marine operation of fishing vessels is a high-risk industry. The low freeboard of fishing vessels, the poor resistance of fishing vessels to wind and waves, and the frequent movement of people and cargoes make it highly likely that fishing vessels will be exposed to natural disasters and production accidents during their voyages. The ability to cope with unexpected accidents such as collisions, sinking of fishing vessels, and people falling into the water is weak [6; 7; 8; 9; 10; 11]. Fishing has long been the most deadly and dangerous occupation in many countries. Various types of safety accidents in the fishing industry have occurred due to increased production and transport activities at sea and extreme weather events. According to the European Maritime Safety Agency (EMSA), the total number of reported marine casualties and incidents over the period from 2014 to 2022 was 23,814, with a yearly average of 2646 casualties and incidents [12]. An emergency rescue service for fishing vessels is an essential element of marine risk prevention and safety, which concerns the precious lives of many fishermen [13; 14; 15]. When a fishing vessel is involved in an accident at sea, how to quickly and efficiently carry out the effective emergency rescue of the vessel in distress and maximize the protection of the life and safety of the operating personnel of the fishing vessel at sea is currently an important research direction in the field of marine fisheries. For the problem of the rescue of ships in distress, the existing studies mainly focus on how to design coverage path planning algorithms to maximize the success rate in an effective time, such as the construction of SARCPPF, a maritime search and rescue vessel coverage path planning framework for multiple persons-in-waters [16], or by collecting empirical data through questionnaires and simple randomization techniques to investigate how to improve the effectiveness and efficiency of maritime SAR [17], or how to reasonably and effectively dispatch rescue resources by integrating multiple forms of distress based on the drift prediction path to propose an optimization method for emergency rescue vessel scheduling [18]. Although these studies have made some progress in rescuing ships in distress, the attention to the timeliness of the rescue process needs to be sufficiently prominent. Maritime accidents generally have a strong suddenness, and the golden time for rescue is so short that the timeliness of rescue has put forward very high requirements [19]. Internationally, it is customary to take the time to the rescue the scene as the primary reference basis for evaluating the level and efficiency of maritime rescue forces. According to the International Maritime Organization statistics, the arrival of rescue forces within two hours can significantly improve the rescue success rate. China issued the Opinions on Strengthening Rescue and Salvage Work which also clearly requires that the arrival time of rescue forces within 100 nautical miles offshore for emergency rescue should not exceed 90 min [20]. When receiving information that a ship is in distress at sea, the maritime search and rescue center at the place of occurrence should, in the shortest possible time, quickly determine the accident situation based on the accident alarm information received, formulate a search and rescue plan because of the actual situation, and dispatch the corresponding vessel to the accident location to carry out emergency rescue operations.