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

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... m 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.