简介：Inthispaper,maximum-likelihood(ML)anditsrelaxationalgorithm,whichareusedtoidentifythemathematicsmodelofanunderwatervehicle(UV),arcdiscussed.Withthetrialdataofzigzagtests,thehydrodynamicderivativesoftheUVwereestimated,andtherelaxationalgorithmisconfirmedtohavebetterastringencyfromthecontrastbetweenthetwomethods.Thenasimulationenvironmentbasedontheseparametersisestablishedtoverifythevalidityandeffectofthesemeth-ods.Theresultshowsthemodeliscredibleandthemethodsareveryusefulfortheresearchofmaneuverabilityandadaptivecontrolofunderwatervehicles.
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