Using reduced hydrodynamic models to accelerate the predictor–corrector convergence of implicit 6-DOF URANS submarine manoeuvring simulations

•A predictor–corrector method is developed for CFD-based 6-DOF manoeuvring simulations.•Simplified hydrodynamic models are used to estimate the Jacobian matrix.•Submarine zig-zag and emergency rising manoeuvres were simulated with the method.•The method was found to be robust and efficient compared with fixed-point iteration.•A simple linearised hydrodynamic model was sufficient for the Jacobian matrix.