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In order to improve the accuracy of the USV’s (unmanned surface vessel) dual antenna GPS positioning system, the Kalman Filter was used to deal with the GPS data. According to the relationship of position ,speed and heading, this paper sets up a mathematical model, then the Kalman Filter is used to process GPS data. First the USV is simulated in the case of still water ,low and high speed. The experiment show that the Kalman filter can achieve the desired result. For example, the mean square error is reduced from 0.5259 to 0.0536 in the case of still water. At last in the case of the disturbance, the experimental results show that the Kalman Filter can also improve the positioning accuracy and significantly reduced the mean square error from 0.5043 to 0.3553. The experiments illustrate that Kalman filter can get a desired effect.