A Novel Parameter Identification Algorithm for 3-DOF Ship Maneuvering Modelling Using Nonlinear Multi-Innovation

In order to further explore more efficient identification algorithms that can solve the ship motion identification modeling problem, a novel identification algorithm for 3-DOF ship maneuvering modeling is proposed in this paper. Based on the recursive least-squares method, the proposed algorithm combines multi-innovation and nonlinear innovation techniques that focus on the innovation’s processing. In addition, its convergence capability is theoretically demonstrated. The identification algorithm shows good accuracy and convergence that is verified by a simulation experiment on a container ship. Furthermore, another simulation experiment using the full mission ship handling simulator demonstrates its generalization capability.