Based on the Computational Fluid Dynamics (CFD) theory, according to the Shear Stress Transfer (SST) turbulence model numerical solution and the principle of Reynolds-Averaged Navier-Stokes equation (RANS), the second-order damping coefficient, linear damping coefficient and additional mass of Remotely Operated Vehicle (ROV) in three-degree-of-freedom are calculated by the cut volume meshing method, so as to establish the three-degree-of-freedom dynamic model of ROV. The hydrodynamic values of the single ducted propeller is calculated with the help of STAR-CCM+ software, and the hydrodynamic performance of the ducted propeller is calculated by considering the influence of ROV. On this basis, the ROV power is matched with ROV resistance, and a speed prediction method based on regression curve method is proposed to realize the speed forecast of ROV. The results show that: the sum of the thrust generated by the individual propeller can be used as the total thrust of the ROV; under the condition of fixed propeller speed, multiple speed points are set near the estimated speed, the iteration method and regression curve method are used to determine the speed point with equal thrust and resistance at this speed, so as to realize the ROV speed forecast at different propeller speeds.